Año: 2015
Autores: Gimenez, J.; Herrera, D.; Tosetti, S.; Carelli, R.;
Resumen: The mapping of partially structured agricultural environments is a valuable resource for precision agriculture.
In this paper, a technique for the mapping of a fruit grove by a mobile robot is proposed, which
uses only front laser information of the environment and the exact position of the grove corners. This
method is based on solving an optimization problem with nonlinear constraints, which reduces errors
inherent to the measurement process, ensuring an efficient and precise map construction. The resulting
algorithm was tested in a real orchard environment. For this, it is also developed a data filtering method
capable to comply efficiently the observation-feature matching. The maximum average error obtained by
the methodology in simulations was about 13 cm, and in real experimentation was about 36 cm.