Abstract
High-throughput field inspection and phenotyping are among the most promising applications for agricultural robotics. We present an autonomous, lightweight robotic system for turfgrass phenotyping applications. The robot is built on two integrated bikebot platform with high-clearance and low soil compaction. To improve the motion control accuracy, an invariant extended Kalman filter is built with fusion of GPS and inertial measurement unit for outdoor localization and navigation. Multiple cameras are used for multi-modal imaging collections. Preliminary experiment results show that the localization accuracy is at the centimeter level and the path-following error is less than 0.5 m most time for various reference trajectories in the feld. The robot design and autonomous navigation demonstrates the feasibility for turfgrass inspection application.
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