Development of Self-Localization System Using Principle of Trilateration Based on Landmarks in Orchards Transporter

Abstract

In this study, we propose the self-localization system using landmarks recognition for autonomous transporter. The laser range finder (LRF) and the RGB-D camera are used to obtain the locations of the landmark’s centroid in the cartesian coordinates. The derived landmark locations are stored on the computer and used for the self-localization. In the proposed self-localization, the local location of the transporter can be estimated using the principle of trilateration with the locations of landmarks and the transporter based on the sensor coordinate. In this approach, the values of all sides and angles in the triangle which consists of the locations of landmarks and transporter can be derived from the geometric relationship. And the global transporter location can be obtained by comparing the difference of the triangle of previous sampling time. The efficacy of the proposed self-localization system is verified by the experiments with the transporter.