LAUSR

Position and orientation data are critical for guiding and managing cooperative robot tasks in the greenhouse. Errors, however, associated with current positioning and orientation systems, such as indoor GPS compasses or the sensitivity of magnetic direction sensors to magnetic materials, limit their application in greenhouses. In this research, we develop and evaluate a positioning and orientation system using a sound signal and two different receiver architectures in a greenhouse. The results obtained: a positioning accuracy of 23.0 ± 5.5 mm and average orientation accuracy of 3.43 ± 1.67° and 1.58 ± 0.86° for these two methods, demonstrate this spread spectrum sound based system has the potential to be deployed on small distributed greenhouse robots.