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Environment map generation in forest using field robot

7 pagesPublished: May 15, 2020

Abstract

We are developing an autonomous field robot to save labor in forest operation. About half of Japan's artificial forest area is already available as wood. However, trees are not harvested and forest resources are not effectively used, because the labor and costs are not sufficient. The employment rate of young people in forestry tends to decline, and the unmanaged forest area is expected to increase in the future. Therefore, in our laboratory we propose an autonomous field robot with all terrain vehicles (ATV) that focuses on the automation of work. The robot we are developing automates weeding and observation for all trees in the forest. In this research, we introduced Robot Operating System (ROS) developed in recent years to this robot. In addition, we observed trees by generating an environmental map in the forest using Simultaneous Localization and Mapping (SLAM).

Keyphrases: Field robot, Forestry, Mapping, ROS, SLAM

In: Tich Thien Truong, Trung Nghia Tran, Quoc Khai Le and Thanh Nha Nguyen (editors). Proceedings of International Symposium on Applied Science 2019, vol 3, pages 175--181

Links:
BibTeX entry
@inproceedings{ISAS2019:Environment_map_generation_in,
  author    = {Noboru Takegami and Eiji Hayashi},
  title     = {Environment map generation in forest using field robot},
  booktitle = {Proceedings of International Symposium on Applied Science 2019},
  editor    = {Tich Thien Truong and Trung Nghia Tran and Quoc Khai Le and Thanh Nha Nguyen},
  series    = {Kalpa Publications in Engineering},
  volume    = {3},
  pages     = {175--181},
  year      = {2020},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2515-1770},
  url       = {https://easychair.org/publications/paper/wQZR},
  doi       = {10.29007/x149}}
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