Navigation Path Following Platform for a Greenhouse Shuttle Robot Using the State-flow Method

Figure 14

(a) 3D SLAM for mobile robot localization; (b) Lidar intensity of SLAM; (c) estimated mobile robot path and ground truth using odometers; Lidar mapping and the obstacle avoidance block: the red path depicts the robot’s odometry localization estimate, the blue path depicts the corresponding ground truth values of the Lidar mapping; (d) mobile robot estimated heading angle.

(a)

(b)

(c)

(d)