Development and experimental analysis of a small integrated edge navigation sensor based on principle of circular arc...

Area of Science:

• Agricultural Engineering
• Robotics
• Sensor Technology

Background:

• Traditional navigation sensors (satellite, radar, machine vision) face limitations in complex agricultural environments like indoor and vertical farms.
• A critical need exists for robust, accurate, and cost-effective navigation solutions for autonomous systems in these controlled agricultural settings.

Purpose of the Study:

• To develop a miniaturized, integrated arc array navigation sensor module for autonomous edge navigation in facility agriculture.
• To achieve accurate real-time position and attitude detection in structured indoor environments like greenhouses and vertical farms.

Main Methods:

• Developed a small integrated arc array navigation sensor module using adaptive detection arc technology and a lateral center arc array principle.
• Employed a coupling method involving reducing sensor arrangement radius, adjusting center angles, and increasing detection distance for miniaturization.
• Integrated Mahalanobis distance algorithm and standard Kalman filter to enhance pose detection accuracy and stability.

Main Results:

• The sensor module successfully performed autonomous edge navigation, detecting position and attitude with high accuracy (lateral deviation < 40 mm, heading deviation < 4.5°).
• Demonstrated stable detection for over 30 seconds on uneven surfaces and maintained performance across varying operating speeds (0.15-0.35 m/s).
• The developed sensor module costs approximately $100, offering a cost-effective solution.

Conclusions:

• The modularized edge navigation sensor provides a fast, convenient, accurate, and low-cost solution for autonomous edge navigation control.
• This technology is well-suited for applications in greenhouses, plant factories, and animal husbandry facilities.
• The sensor's robustness and adaptability make it a viable alternative to existing navigation systems in controlled agricultural environments.