Constructing a simultaneously Localization and Mapping System for autonomous mobile robots in the agriculture greenhouse environment based on robot Operating System
Keywords:
Agricultural Robot, Robot Operating System (ROS), Gazebo, Rviz, Simultaneous Localization and Mapping (SLAM), Omni robotAbstract
This paper introduces a new method implemented in Simultaneous Localization and Mapping (SLAM) for autonomous robots in greenhouse, which are programed with Robot Operating System (ROS). Our proposed SLAM based algorithm in this paper was tested in 4 wheels Ommi robot which uses Jeston TX2 combined with 3D camera and Lidar sensor to acquire the environmental data. The simulation results in Matlab and the robot simulation in a greenhouse using Gazebo reveal the potential of implementing ROS in monitoring and controlling autonomous agricultural robots in high-tech agricultural applications.
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