The multipurpose field robot platform BoniRob offers a wide range of possible applications to be carried out by attaching different application modules called BoniRob-Apps. The Penetrometer-App can be used to measure penetration resistance, soil temperature and moisture. To be able to automatize the measurement process of soil properties a GNSS-based navigation for BoniRob has been developed with the Robot Operating System ROS. Network RTK-GNSS measurements are performed to estimate the position and orientation of the robot. The measurement process can be planned using GIS Software by defining the working area and desired measurement points. The measurement points could be approached with an accuracy (approach accuracy) better than 25 cm.
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