A Fully Autonomous Robot for Putting Posts for Trellising Vineyard with Centimetric Accuracy
Authors:
- Olivier LyOLOlivier Ly
- Hugo GimbertHGHugo Gimbert
- Gregoire PassaultGPGregoire Passault
- Gerald BaronGBGerald Baron
- 1 April 2015
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 44-49
Abstract
We present an autonomous robot designed to optimize and to make secure the process of putting vineyard post during trellising. The principle is as follows: The robot goes at the location of the post in an autonomous way with a centimetric accuracy, the user provides the post, and then the robot drives the post into earth without additional user intervention. The robot is designed from a small backhoe loader. The tool of the backhoe loader has been replaced by a hydraulic hammer. All the hydraulic functions of the machine are controlled, including the hammer and the tracks. The robot is geolocalized with a differential global navigation satellite systems (GNSS for short) mono-frequency low-cost system relying on a mix of triple and double differences.Keywords
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