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• W4297004041 startingPage "99" @default.
• W4297004041 abstract "The paper presents RoboNav, a cost-effective and accurate decimeter-grade navigation system that can be used for deployment in the field of autonomous agricultural robots. The novelty of the system is the reliance on a dual GPS configuration based on two u-blox modules that work in conjunction with three low-cost inertial sensors within a Gaussian Sum Filter able to combine multiple Extended Kalman filters dealing with IMU bias and GPS signal loss. The system provides estimation of both position and heading with high precision and robustness, at a significantly lower cost than existing equivalent navigation systems. RoboNav is validated in a commercial vineyard by performing experimental tests using an all-terrain tracked robot commanded to follow a series of GPS waypoints, trying to minimize the crosstrack error and showing average errors on the order of 0.2 m and 0.2∘ for the measurement of position and yaw angle, respectively." @default.
• W4297004041 created "2022-09-25" @default.
• W4297004041 creator A5051783471 @default.
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• W4297004041 date "2022-09-21" @default.
• W4297004041 modified "2023-09-26" @default.
• W4297004041 title "RoboNav: An Affordable Yet Highly Accurate Navigation System for Autonomous Agricultural Robots" @default.
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• W4297004041 doi "https://doi.org/10.3390/robotics11050099" @default.
• W4297004041 hasPublicationYear "2022" @default.
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