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Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator


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dc.contributor.editor Pajares Martinsanz, Gonzalo es
dc.creator Drenjanac, Domagoj es
dc.creator Tomic, Slobodanka es
dc.creator Agüera, Juan es
dc.creator Pérez Ruiz, Manuel es 2016-06-29T11:16:31Z 2016-06-29T11:16:31Z 2014
dc.identifier.citation Drenjanac, D., Tomic, S., Agüera, J. y Pérez Ruiz, M. (2014). Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator. Sensors, 2014 (14), 19767-19784.
dc.identifier.issn 1424-8220 es
dc.description.abstract In the new agricultural scenarios, the interaction between autonomous tractors and a human operator is important when they jointly perform a task. Obtaining and exchanging accurate localization information between autonomous tractors and the human operator, working as a team, is a critical to maintaining safety, synchronization, and efficiency during the execution of a mission. An advanced localization system for both entities involved in the joint work, i.e., the autonomous tractors and the human operator, provides a basis for meeting the task requirements. In this paper, different localization techniques for a human operator and an autonomous tractor in a field environment were tested. First, we compared the localization performances of two global navigation satellite systems’ (GNSS) receivers carried by the human operator: (1) an internal GNSS receiver built into a handheld device; and (2) an external DGNSS receiver with centimeter-level accuracy. To investigate autonomous tractor localization, a real-time kinematic (RTK)-based localization system installed on autonomous tractor developed for agricultural applications was evaluated. Finally, a hybrid localization approach, which combines distance estimates obtained using a wireless scheme with the position of an autonomous tractor obtained using an RTK-GNSS system, is proposed. The hybrid solution is intended for user localization in unstructured environments in which the GNSS signal is obstructed. The hybrid localization approach has two components: (1) a localization algorithm based on the received signal strength indication (RSSI) from the wireless environment; and (2) the acquisition of the tractor RTK coordinates when the human operator is near the tractor. In five RSSI tests, the best result achieved was an average localization error of 4 m. In tests of real-time position correction between rows, RMS error of 2.4 cm demonstrated that the passes were straight, as was desired for the autonomous tractor. From these preliminary results, future work will address the use of autonomous tractor localization in the hybrid localization approach. es
dc.format application/pdf es
dc.language.iso eng es
dc.publisher MDPI - Open Access Publishing es
dc.relation.ispartof Sensors, 2014 (14), 19767-19784.
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 Internacional *
dc.rights.uri *
dc.subject DGNSS es
dc.subject autonomous vehicle es
dc.subject RTK-GNSS es
dc.subject trilateration es
dc.title Wi-Fi and Satellite-Based Location Techniques for Intelligent Agricultural Machinery Controlled by a Human Operator es
dc.type info:eu-repo/semantics/article es
dc.type.version info:eu-repo/semantics/publishedVersion es
dc.rights.accessrights info:eu-repo/semantics/openAccess es
dc.contributor.affiliation Universidad de Sevilla. Departamento de Ingeniería Aeroespacial y Mecánica de Fluidos es
dc.contributor.affiliation Universidad de Sevilla. Departamento de Ciencias Agroforestales es
dc.relation.publisherversion es
dc.identifier.doi 10.3390/s141019767 es Universidad de Sevilla. AGR-126 Mecanización y Tecnología Rural es
idus.format.extent 17 p. es
dc.journaltitle Sensors es
dc.publication.volumen 2014 es
dc.publication.issue 14 es
dc.publication.initialPage 19767 es
dc.publication.endPage 19784 es
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