Preliminary laboratory test on navigation accuracy of an autonomous robot for measuring air quality in livestock buildings

Article


Qi, Haixia, Banhazi, Thomas M., Zhang, Zhigang, Low, Tobias and Brookshaw, Iain J.. 2016. "Preliminary laboratory test on navigation accuracy of an autonomous robot for measuring air quality in livestock buildings." International Journal of Agricultural and Biological Engineering. 9 (2), pp. 29-39. https://doi.org/10.3965/j.ijabe.20160902.1189
Article Title

Preliminary laboratory test on navigation accuracy of an autonomous robot for measuring air quality in livestock buildings

Article CategoryArticle
AuthorsQi, Haixia (Author), Banhazi, Thomas M. (Author), Zhang, Zhigang (Author), Low, Tobias (Author) and Brookshaw, Iain J. (Author)
Journal TitleInternational Journal of Agricultural and Biological Engineering
Journal Citation9 (2), pp. 29-39
Number of Pages11
Year2016
Place of PublicationChina
Digital Object Identifier (DOI)https://doi.org/10.3965/j.ijabe.20160902.1189
Web Address (URL)https://ijabe.org/index.php/ijabe/article/view/1189
Abstract

Air quality in many poultry buildings is less than desirable. However, the measurement of concentrations of airborne pollutants in livestock buildings is generally quite difficult. To counter this, the development of an autonomous robot that could collect key environmental data continuously in livestock buildings was initiated. This research presents a specific part of the larger study that focused on the preliminary laboratory test for evaluating the navigation precision of the robot being developed under the different ground surface conditions and different localization algorithm according internal sensors. The construction of the robot was such that each wheel of the robot was driven by an independent DC motor with four odometers fixed on each motor. The inertial measurement unit (IMU) was rigidly fixed on the robot vehicle platform. The research focused on using the internal sensors to calculate the robot position (x, y, θ) through three different methods. The first method relied only on odometer dead reckoning (ODR), the second method was the combination of odometer and gyroscope data dead reckoning (OGDR) and the last method was based on Kalman filter data fusion algorithm (KFDF). A series of tests were completed to generate the robot’s trajectory and analyse the localisation accuracy. These tests were conducted on different types of surfaces and path profiles. The results proved that the ODR calculation of the position of the robot is inaccurate due to the cumulative errors and the large deviation of the heading angle estimate. However, improved use of the gyroscope data of the IMU sensor improved the accuracy of the robot heading angle estimate. The KFDF calculation resulted in a better heading angle estimate than the ODR or OGDR calculations. The ground type was also found to be an influencing factor of localisation errors.

Keywordsautonomous robot, air quality, navigation, Kalman filter data fusion, livestock building, robot localization
Contains Sensitive ContentDoes not contain sensitive content
ANZSRC Field of Research 2020300301. Animal growth and development
Byline AffiliationsSouth China Agricultural University, China
National Centre for Engineering in Agriculture
Faculty of Engineering and Surveying
Institution of OriginUniversity of Southern Queensland
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Quantification of environmental conditions in Australian livestock buildings
Banhazi, Thomas M.. 2012. "Quantification of environmental conditions in Australian livestock buildings ." 9th International Livestock Environment Symposium (ILES 2012): Agriculture and Engineering for a Healthier Life. Valencia, Spain 08 - 12 Jul 2012 St. Joseph, MI. United States.
Monocular vision, optical blur and visual looming as a basis for mobile robot obstacle avoidance
Brookshaw, Iain J. and Low, Tobias. 2012. "Monocular vision, optical blur and visual looming as a basis for mobile robot obstacle avoidance." Dorantes-Gonzalez, Dante J. (ed.) 16th International Conference on Mechatronics Technology (ICMT 2012): Advanced Mechatronics, Precision Measurement and NanoManufacturing. Tianjin, China 16 - 19 Oct 2012 China.
Precision livestock farming: precision feeding technologies and sustainable livestock production
Banhazi, T. M., Babinszky, L., Halas, V. and Tscharke, M.. 2012. "Precision livestock farming: precision feeding technologies and sustainable livestock production." International Journal of Agricultural and Biological Engineering. 5 (4), pp. 54-61. https://doi.org/10.3965/j.ijabe.20120504.006
Precision livestock farming: an international review of scientific and commercial aspects
Banhazi, T. M., Lehr, H., Black, J. L., Crabtree, H., Schofield, P., Tscharke, M. and Berckmans, D.. 2012. "Precision livestock farming: an international review of scientific and commercial aspects." International Journal of Agricultural and Biological Engineering. 5 (3), pp. 1-9. https://doi.org/10.3965/j.ijabe.20120503.00
Relating flock activity levels to odour variations in tunnel ventilated broiler sheds - preliminary results
Atzeni, Michael, Sohn, Jae-Ho, Hancock, Nigel and Banhazi, Thomas. 2011. "Relating flock activity levels to odour variations in tunnel ventilated broiler sheds - preliminary results." Banhazi, T., Saunders, C. and Hegarty, R. (ed.) SEAg 2011: Diverse Challenges, Innovative Solutions. Gold Coast, Australia 29 - 30 Sep 2011 Canberra, Australia.
Precision livestock farming: scientific concepts and commercial reality
Banhazi, T. M., Lehr, H., Black, J. L., Crabtree, H., Schofield, P., Tscharke, M. and Berckmans, D.. 2011. "Precision livestock farming: scientific concepts and commercial reality." 15th International Congress on Animal Hygiene: Animal Hygiene and Sustainable Livestock Production (ISAH 2011). Vienna, Austria 03 - 07 Jul 2011 Vienna, Austria .
Review of the key results of a large integrated air quality project in Australia
Banhazi, T.. 2011. "Review of the key results of a large integrated air quality project in Australia." 15th International Congress on Animal Hygiene: Animal Hygiene and Sustainable Livestock Production (ISAH 2011). Vienna, Austria 03 - 07 Jul 2011 Vienna, Austria .
The current state of PLF affairs
Banhazi, Thomas. 2011. "The current state of PLF affairs." Lehr, Heiner and Smith, Ian (ed.) Acceptable and practical precision livestock farming. Halifax, UK . European Commission. pp. 11-17
The precision livestock farming journey: from a scientific dream towards commercial reality
Banhazi, T. and Black, J.. 2011. "The precision livestock farming journey: from a scientific dream towards commercial reality." Lehr, Heiner and Smith, Ian G. (ed.) Acceptable and practical precision livestock farming. Halifax, United Kingdom. European Union. pp. 192-207
Improved image analysis based system to reliably predict the live weight of pigs on farm: preliminary results
Banhazi, T. M., Tscharke, M., Ferdous, W. M., Saunders, C. and Lee, S. -H.. 2011. "Improved image analysis based system to reliably predict the live weight of pigs on farm: preliminary results ." Australian Journal of Multi-Disciplinary Engineering. 8 (2), pp. 107-119.
The development and commercialisation aspects of a practical feed intake measurement instrumentation to be used in livestock buildings
Banhazi, T. M., Lewis, B. and Tscharke, M.. 2011. "The development and commercialisation aspects of a practical feed intake measurement instrumentation to be used in livestock buildings ." Australian Journal of Multi-Disciplinary Engineering. 8 (2), pp. 131-138.
Oil spraying as an air quality improvement technique in livestock buildings: development and utilisation of a testing device
Banhazi, T. M., Saunders, C., Nieuwe, N., Lu, V. and Banhazi, A.. 2011. "Oil spraying as an air quality improvement technique in livestock buildings: development and utilisation of a testing device ." Australian Journal of Multi-Disciplinary Engineering. 8 (2), pp. 169-180.
Digital image processing methods for the identification of pigs posture during weight estimation
Ferdous, W. M., Tscharke, M., Saunders, C., Lee, S.-H. and Banhazi, T. M.. 2011. "Digital image processing methods for the identification of pigs posture during weight estimation." Lokhorst, Kees and Berckmans, Daniel (ed.) 5th European Conference on Precision Livestock Farming (ECPLF 2011). Prague 11 - 14 Jul 2011 Prague .
Air exchanges and indoor carbon dioxide concentration in Australian pig buildings: effect of housing and management factors
Banhazi, T. M., Stott, P., Rutley, D., Blanes-Vidal, V. and Pitchford, W.. 2011. "Air exchanges and indoor carbon dioxide concentration in Australian pig buildings: effect of housing and management factors." Biosystems Engineering. 110 (3), pp. 272-279. https://doi.org/10.1016/j.biosystemseng.2011.08.007
Review of methods to determine weight, size and composition of livestock from images
Tscharke, M. and Banhazi, T. M.. 2011. "Review of methods to determine weight, size and composition of livestock from images." Banhazi, T., Saunders, C. and Hegarty, R. (ed.) SEAg 2011: Diverse Challenges, Innovative Solutions. Gold Coast, Australia 29 - 30 Sep 2011 Canberra, Australia .
Growth recorded automatically and continuously by a machine vision system for finisher pigs
Tscharke, M. J. and Banhazi, T. M.. 2011. "Growth recorded automatically and continuously by a machine vision system for finisher pigs." Banhazi, T., Saunders, C. and Hegarty, R. (ed.) SEAg 2011: Diverse Challenges, Innovative Solutions. Gold Coast, Australia 29 - 30 Sep 2011 Canberra, Australia .
Spatial, diurnal and seasonal variations in the levels of environmental parameters in Australian livestock buildings
Banhazi, T. M.. 2011. "Spatial, diurnal and seasonal variations in the levels of environmental parameters in Australian livestock buildings." Banhazi, T., Saunders, C. and Hegarty, R. (ed.) SEAg 2011: Diverse Challenges, Innovative Solutions. Gold Coast, Australia 29 - 30 Sep 2011 Canberra, Australia .
Treatment of airborne pollutants in livestock buildings with ozone as potential abatement option
Banhazi, T.. 2011. "Treatment of airborne pollutants in livestock buildings with ozone as potential abatement option ." Australian Journal of Multi-Disciplinary Engineering. 8 (2), pp. 147-156.
A low cost portable environmental monitoring system for livestock buildings
Clements, M. S., Watt, A. C., Debono, A. P., Aziz, S. M. and Banhazi, T. M.. 2011. "A low cost portable environmental monitoring system for livestock buildings." Banhazi, T., Saunders, C. and Hegarty, R. (ed.) SEAg 2011: Diverse Challenges, Innovative Solutions. Gold Coast, Australia 29 - 30 Sep 2011 Canberra, Australia .
Glossary of terms on animal housing: interconnecting engineering, physical and physiological definitions
Panagakis, P., Blanes-Vidal, V., Banhazi, T., Barbosa, J. C., Maltz, E., da Cruz, V. F. and Berckmans, D.. 2009. "Glossary of terms on animal housing: interconnecting engineering, physical and physiological definitions." Agricultural Engineering International. 11, pp. 1-34.
Precision livestock farming and nutrition
Banhazi, Thomas and Babinszky, Laszlo. 2010. "Precision livestock farming and nutrition." Kralik, Gordana (ed.) 17th International Conference on Animal Nutrition (KRMIVA 2010): Innovation in Non-Ruminant Nutrition. Opatija, Croatia 07 - 09 Jun 2010 Zagreb, Croatia.
Controlling the concentrations of airborne particles in broiler buildings
Banhazi, T. M., Currie, E. P. K., Quartararo, M. and Aarnink, A. J. A.. 2009. "Controlling the concentrations of airborne particles in broiler buildings ." Aland, A. and Madec, F. (ed.) Sustainable animal production: the challenges and potential developments for professional farming. Wageningen, Netherlands. Wageningen Academic Publishers. pp. 347-364
Field evaluation of a prototype sensor for measuring feed disappearance in livestock buildings
Banhazi, T. M., Rutley, D., Parkin, B. J. and Lewis, B.. 2009. "Field evaluation of a prototype sensor for measuring feed disappearance in livestock buildings." Australian Journal of Multi-Disciplinary Engineering. 7 (1), pp. 27-38.
Precision livestock farming: a suite of electronic systems to ensure the application of best practice management on livestock farms
Banhazi, Thomas and Black, John L.. 2009. "Precision livestock farming: a suite of electronic systems to ensure the application of best practice management on livestock farms." Australian Journal of Multi-Disciplinary Engineering. 7 (1), pp. 1-13.
Identification of the risk factors for high airborne particle concentrations in broiler buildings using statistical modelling
Banhazi, T. M., Seedorf, J., Laffrique, M. and Rutley, D. L.. 2008. "Identification of the risk factors for high airborne particle concentrations in broiler buildings using statistical modelling ." Biosystems Engineering. 101 (1), pp. 100-110. https://doi.org/10.1016/j.biosystemseng.2008.06.007
Potential of using infrared thermography for determination of skin wetness and thus perceived thermal comfort of pigs
Banhazi, T., Kitchen, J. and Tivey, D.. 2009. "Potential of using infrared thermography for determination of skin wetness and thus perceived thermal comfort of pigs." Australian Journal of Multi-Disciplinary Engineering. 7 (1), pp. 47-54.
User-friendly air quality monitoring system
Banhazi, Thomas. 2009. "User-friendly air quality monitoring system ." Applied Engineering in Agriculture. 25 (2), pp. 281-290.
Development and testing of an evaluation procedure for commercial manure additive products
Banhazi, T., Hudson, N., Dunlop, M., Dyson, C. and Thomas, R.. 2009. "Development and testing of an evaluation procedure for commercial manure additive products ." Biosystems Engineering. 103 (3), pp. 321-328. https://doi.org/10.1016/j.biosystemseng.2009.04.011
Review of the consequences and control of high air temperatures in intensive livestock buildings
Banhazi, T., Aarnink, A., Thuy, H., Pedersen, S., Hartung, J., Payne, H., Mullan, B. and Berckmans, D.. 2009. "Review of the consequences and control of high air temperatures in intensive livestock buildings ." Australian Journal of Multi-Disciplinary Engineering. 7 (1), pp. 63-78.
Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system
Low, Tobias and Manzanera, Antoine. 2010. "Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system." 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Singapore 07 - 10 Dec 2010 United States. https://doi.org/10.1109/ICARCV.2010.5707289
Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 4. Emission factors and study recommendations
Banhazi, T. M., Rutley, D. L. and Pitchford, W. S.. 2008. "Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 4. Emission factors and study recommendations." Journal of Agricultural Safety and Health. 14 (1), pp. 53-69.
Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 2. Airborne pollutants
Banhazi, T. M., Seedorf, J., Rutley, D. L. and Pitchford, W. S.. 2008. "Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 2. Airborne pollutants ." Journal of Agricultural Safety and Health. 14 (1), pp. 21-39.
Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 1. Study justification and design
Banhazi, T. M., Seedorf, J., Rutley, D. L. and Pitchford, W. S.. 2008. "Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 1. Study justification and design." Journal of Agricultural Safety and Health. 14 (1), pp. 5-20.
Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 3. Environmental parameters
Banhazi, T. M., Seedorf, J., Rutley, D. L. and Pitchford, W. S.. 2008. "Identification of risk factors for sub-optimal housing conditions in Australian piggeries: part 3. Environmental parameters." Journal of Agricultural Safety and Health. 14 (1), pp. 41-52.
Weight estimation using image analysis and statistical modelling: a preliminary study
Kollis, K., Phang, C. S., Banhazi, Thomas and Searle, Stephen J.. 2007. "Weight estimation using image analysis and statistical modelling: a preliminary study ." Applied Engineering in Agriculture. 23 (1), pp. 91-96.
Validation and fine-tuning of a predictive model for air quality in livestock buildings
Banhazi, T. M., Rutley, D. L. and Pitchford, W. S.. 2010. "Validation and fine-tuning of a predictive model for air quality in livestock buildings." Biosystems Engineering. 105 (3), pp. 395-401. https://doi.org/10.1016/j.biosystemseng.2009.12.011
Air pollution and livestock production
Watt, A. C., Aziz, S. M. and Banhazi, T. M.. 2010. "Air pollution and livestock production." 17th World Congress of the International Commission of Agricultural and Biosystems Engineering (CIGR 2010): Sustainable Biosystems Through Engineering. Quebec City, Canada 13 - 17 Jun 2010 Quebec City, Canada.