2. Perception solutions for robots in natural environments

2.1 Absolute location

The first step towards autonomy for a mobile robot is the localization task. The most natural approach is to use absolute position sensors. The advent of GPS has made it possible to locate any point on earth instantaneously, with varying degrees of accuracy depending on the technology employed. The satellite positioning system is a preferred tool for agricultural work in open fields, since the fields are clear of satellite signals. Numerous positioning systems have long been used in agriculture to obtain various yield and productivity maps. Many farming operations require centimetric accuracy, which can only be achieved with the help of differential corrections, such as RTK (Real Time Kinematic), provided by a reference station. The reference station must be less...