Realization of a highly accurate mobile robot system for multi purpose precision forestry applications

摘要

Localization, navigation and identification of characteristics of the environment are of high importance in mobile robotics. In this paper we used methods of mobile robotics to derive highly accurate position information of a wood harvester's cabin as well as of its harvesting head. In addition to enhance the harvesting process, the fusion of data provided by the sensors leads to a number of new applications in forestry ranging from high precision localization and logging operations up to single tree navigation. The first part of this paper introduces the components of this special form of a mobile robot. In the second part the underlying robotic principles are clarified and examples are given of how these principles enabled new applications in forestry. The results are evaluated and compared to conventional measurement techniques.