Implementation of SLAM by using a Mobile Agribot in a Simulated Indoor Environment in Gazebo

摘要

Agribots are frequently used in agricultural applications for improving crop yield and decreasing human efforts. Autonomous operation of agribots is indispensable to obtain best benefit from the agribots. This work proposes a simultaneous localization and mapping (SLAM) technique in simulated gazebo environment using ROS. The robot is navigated in an indoor agricultural field autonomously through localization and map building. The proposed methodology performs SLAM by fusion of SLAM sensors’ data in the indoor agricultural environment. Obstacle avoidance and cost effective computation has been performed using the sonar sensor. Mapping was performed with Microsoft Kinect sensor and LiDAR. The purpose method was used for localization, mapping and navigation of an agri-bot in an unknown indoor greenhouse environment in ROS.