Matthias Goettinger, Chrsitian Scholz, Kim Moeller,
Arno Ruckelshausen, Wolfram Strothmann,
Stefan Hinck, and Slawomir Grzonka
GNSS-based navigation for the multipurpose field robot
platform BoniRob to measure soil properties
Abstract:
The multipurpose field robot platform BoniRob offers a wide range of possible applications to
be carried out by attaching different application modules called BoniRob-Apps. The
Penetrometer-App can be used to measure penetration resistance, soil temperature and
moisture. To be able to automatize the measurement process of soil properties a GNSSbased
navigation for BoniRob has been developed with the Robot Operating System ROS.
Network RTK-GNSS measurements are performed to estimate the position and orientation of
the robot. The measurement process can be planned using GIS Software by defining the
working area and desired measurement points. The measurement points could be
approached with an accuracy (approach accuracy) better than 25 cm.
Bibtex:
@Inproceedings{goettinger14vdia,
title={GNSS-based navigation for the multipurpose field robot platform BoniRob to measure soil properties},
author={Goettinger, M and Scholz, C and Moeller, K and Ruckelshausen, A and Strothmann, W and Hinck, S and Grzonka, S},
booktitle={LAND. TECHNIK-AgEng 2014},
}
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