Fruit mapping mobile robot on simulated agricultural area in Gazebo simulator using simultaneous localization and mapping (SLAM)

Novian Habibie, Aditya Murda Nugraha, Ahmad Zaki Anshori, M. Anwar Ma'sum, Wisnu Jatmiko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Precision Agriculture using mobile robot aimed to increase efficiency and quality of crops treatment and monitoring, since robot can produce better result in term of data quality and accuracy than manual treatment by human labor. Limited by technology development and complexity of agricultural environment, precision agriculture nowadays is still not fully-autonomous, but partially autonomous to handle more simpler - but need high accuracy - tasks. Some of them is mapping and monitoring task. This research proposed a method for generating map in simulated agricultural area using Simultaneous Localization And Mapping (SLAM), by generating grid-based/volumetric map using fine-tuned SLAM-Gmapping algorithm and combine it with properties/informations obtained from each detected crops/plants using fruit detection with visual sensor and tree location detection using 2D laser scanner sensor. Experiment conducted in simulation environment Gazebo and Robot Operation System (ROS) for scenario of simulated fruit mapping in apple farm, and give a good result with a good accuracy.

Original languageEnglish
Title of host publicationMHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-7
Number of pages7
ISBN (Electronic)9781538633144
DOIs
Publication statusPublished - 28 Feb 2018
Event28th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2017 - Nagoya, Japan
Duration: 3 Dec 20176 Dec 2017

Publication series

NameMHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science
Volume2018-January

Conference

Conference28th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2017
CountryJapan
CityNagoya
Period3/12/176/12/17

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  • Cite this

    Habibie, N., Nugraha, A. M., Anshori, A. Z., Ma'sum, M. A., & Jatmiko, W. (2018). Fruit mapping mobile robot on simulated agricultural area in Gazebo simulator using simultaneous localization and mapping (SLAM). In MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science (pp. 1-7). (MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MHS.2017.8305235