An Evaluation of Three Different Infield Navigation Algorithms

摘要

In this chapter, we present and evaluate three different infield navigation algorithms, based on the readings from a LIDAR sensor. All three algorithms are tested on a small field robot and used to autonomously drive the robot between the two adjacent rows of maze plants. The first algorithm is the simplest one and just takes distance readings from the left and right side. If robot is not in the center of the mid-row space, it adjusts its course by turning the robot in the right direction accordingly. The second approach groups the left and right readings into two vertical lines by using least-square fit approach. According to the calculated distance and orientation to both lines, it adjusts the course of the robot. The third approach tries to fit an optimal triangle between the robot and the plants, revealing the most optimal one. Based on its shape, the course of the robot is adjusted. All three algorithms are tested in a simulated (ROS stage) and then in an outdoor (maze test field) environment comparing the optimal line with the actual calculated position of the robot. The tests prove that all three approaches work with an error of 0.041 ± 0.034 m for the first algorithm, 0.07 ± 0.059 m for the second, and 0.078 ± 0.055 m error for the third.