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LiDAR-based navigation system for ground autonomous mobile robot in corn field

Grant number: 17/00033-7
Support Opportunities:Scholarships abroad - Research Internship - Master's degree
Effective date (Start): May 01, 2017
Effective date (End): October 31, 2017
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Marcelo Becker
Grantee:Vitor Akihiro Hisano Higuti
Supervisor: Girish Chowdhary
Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Research place: University of Illinois at Urbana-Champaign, United States  
Associated to the scholarship:16/09970-0 - Passive suspension rover for minimally invasive monitoring of agricultural areas, BP.MS


This research project will be developed in Distributed Autonomous Systems Laboratory (DASLab) at University of Illinois at Urbana-Champaign as part of a partnershipbetween Mobile Robotics Laboratory (LabRoM) and DASLab. The main goal of this research is to evaluate algorithms for perception in agricultural fields. In particular,Light Detection and Ranging (LiDAR)-based navigation system will be developed and implemented to provide environmental information and generate suitable actions for a ground mobile robot's locomotion system in a corn field. All algorithms will be written in C++ and implemented on Robot Operating System (ROS) framework. It is expectedto obtain significant progress in hElvis' LiDAR-based navigation system, currently under development in LabRoM, through using it on differents robotic platforms and implementing improved algorithms. Moreover, this system will be compared with machine vision system developed by DASLab. (AU)

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Scientific publications
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
HIGUTI, VITOR A. H.; VELASQUEZ, ANDRES E. B.; MAGALHAES, DANIEL VARELA; BECKER, MARCELO; CHOWDHARY, GIRISH. Under canopy light detection and ranging-based autonomous navigation. Journal of Field Robotics, v. 36, n. 3, p. 547-567, . (13/07276-1, 17/00033-7)

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