Abstract
Over the recent years, agricultural mobile robots have been an important topic for scientists and for the world of industry. The rapid progress of communication, sensor, and computing technologies has led to a significant increase in the field of guidance systems for autonomous agricultural robots. Agricultural robots that are automated decrease labor expenses, avoid farmers from performing different tasks, and give them reliable, up-to-date data to aid in management choices. This paper provides and discusses a description of the navigation mechanism for the “FellahBot” micro-tractor developed by FellahTech. Navigation sensors, computational methods, and navigation control algorithms are the essential components. Crucial operations include selecting, coordinating, and combining the most suitable sensors to provide the essential data needed for the robot’s navigation. In order to achieve improved localization and map**, image processing and multi-data sensor fusion employ powerful algorithms. Its lines of research are grouped under the name simultaneous localization and map** (SLAM) algorithms. This scientific work aims to evaluate SLAM systems embedded on the architecture CPU-GPU of the Jetson Nano, and we compare with two implementations of Cartographer SLAM and EKF algorithms.
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Acknowledgements
We would like to express our gratitude to the Moroccan National Center for Scientific and Technical Research (CNRST) for its encouragement as well as for its financial support (grant number: 37 UM5R2022) during the period June 2022 to April 2023, and a special thanks also to the CEOs of FellahTech and Scube Companies presented by EL BIKRI Réda Amine and HOUNDEKINDO RHYS, respectively, for all their support during my final graduation project of my master’s thesis (March 2021 to June 2021). Finally, I would like to extend my sincere appreciation to my colleagues at FellahTech, especially Jérémie NTCHOUALA and Karima ASSILI, for their collaboration and support.
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Mailka, H., Abouzahir, M., Ramzi, M. (2024). An Outdoor Navigation System Dedicated to a Moroccan Micro-tractor Based on SLAM Algorithms and Multi-sensor Fusion. In: Bendaoud, M., El Fathi, A., Bakhsh, F.I., Pierluigi, S. (eds) Advances in Control Power Systems and Emerging Technologies. ICESA 2023. Advances in Science, Technology & Innovation. Springer, Cham. https://doi.org/10.1007/978-3-031-51796-9_24
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