The paper presents the implementation of geofencing on a mobile industrial controller for the automation of a mobile carrier vehicle for agricultural use. This system is used to prevent collision with well-known obstacles as well as avoid the accidental run-away of the vehicle under autonomous operation. It describes the mathematical principle used, as well as the additional features needed for a practical implementation on an industrial controller. As it is necessary to ensure the operation under real-world conditions, the paper also handles the data acquisition, pre-filtering and sensor fusion for system. Finally the correct behavior of the system is evaluated with multiple test-cases as well as experimental field tests.
|Original language||German (Austria)|
|Title of host publication||PROCEEDINGS OF THE AUSTRIAN ROBOTICS WORKSHOP 2022|
|Subtitle of host publication||Robotics for Assistance and in Healthcare|
|Place of Publication||Villach|
|Number of pages||6|
|Publication status||Published - 1 Jul 2022|