Research on Integrated Navigation and Experiment of Intelligent Pusher Robot

Abstract:
In order to realize the automatic feeding of cows in the pasture environment, we propose a pusher robot integrated navigation system using multiple sensors. we analyzed and designed the hardware system of the robot, the integrated navigation system combined incremental encoders, gyroscope, and ultrasonic sensor. We use encoders and gyroscope to estimate the pose of the robot, Kalman filter is used to fuse the robot pose, and ultrasonic data to obtain the lateral distance between the robot and the cow pen. The experimental results show that the real route of the robot is highly consistent with the set route, and the interference of the cow’s head is effectively suppressed. At the velocity of 0.2m/s, the lateral distance error is limited to 0.055m.