Autonomous Field Navigation for Data Acquisition of Wireless Sensor Networks
- Publikations-Art
- Kongressband
- Autoren
- D. Reiser; D.S. Paraforos, M.T. Khan, H. W. Griepentrog
- Erscheinungsjahr
- 2015
- Veröffentlicht in
- Precision Agriculture 15
- Herausgeber
- John V. Stafford
- Verlag
- Wageningen Academic Publishers
- Band/Volume
- 1/1
- ISBN / ISSN / eISSN
- 978-90-8686-267-2
- DOI
- 10.3920/978-90-8686-814-8_32
- Seite (von - bis)
- 267-274
- Tagungsname
- ECPA- European Conference on Precision Agriculture
- Tagungsort
- Volcani Center, Israel
- Tagungsdatum
- 12-16- July 2015
To overcome the limited transmission range of spatially separated nodes of a wireless sensor network (WSN), a small 4-wheel autonomous robot assembled the data from the nodes, distributed in a vineyard. While navigating, a laser scanner was used for obstacle detection and avoidance. First the robot followed a predefined way-point route between the plant rows to evaluate the sensor node locations by their received signal strength indication (RSSI). The recorded and geo-referenced RSSI data were analysed and mapped. By using the RSSI maps and the node positions, an optimised second route was generated. The results showed that it is possible to reduce the driving time by 15 times in comparison to the first run and that the used hybrid control system was capable of navigating within the plantation even perpendicular to the row structures.