MOW-BY-SAT

DisseminationMarch 2010

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The research leading to these results has received funding from the European Community's Framework Program (FP7/2007-2013) under grant agreement n° 227824.

MOW-BY-SAT dissemination

Project objectives Presentation of consortium Essential

◦ Economical feasibility◦ Technical feasibility◦ Application development and demos

Results exploitation

Content

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MOW-BY-SAT dissemination

Prove that satellite navigation can be used as “primary mean” of service robots guidance

Illustrate by a technical example:◦ autonomous mowers

Analyse business models for that market

Answer to the question: How to take benefits of the European NAVSAT: EGNOS and Galileo

Project objectives

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MOW-BY-SAT dissemination

Project Consortium

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MOW-BY-SAT GNSS in robotics

The research leading to these results has received funding from the European Community's Framework Program (FP7/2007-2013) under grant agreement n° 227824.

MOW-BY-SAT dissemination

Intersection of 2 markets

◦ Emerging market: Essential benefit in flexibility w.r.t. wired boundary of field

◦ New marketing mix◦ Imposes

a very accurate positioning function A low cost positioning function

Economical feasibility

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Service robot market

GNSS application marketGNSS machine

control

Robot guidancemarket

MOW-BY-SAT dissemination

« Required Navigation Performance » for robotic guidance◦ Accuracy/repeatability:

sub-inch in relative coordinates

◦ Integrity A few decimeters of protection level with integrity risk of 10-5

/hour (typically)

◦ Availability and continuity of service according environment and type of robot mission

Performance simulator◦ Analysis of performance augmentation thanks to

EGNOS/EDAS and Galileo (from GIOVE A & B up to FOC) Satellite constellation to be used; Masking and attenuation environment.

◦ Behavior and performance assessment: test of GNSS systems and navigation /control algorithms

Technical feasibility

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MOW-BY-SAT dissemination

Development of the simulatorTechnical feasibility

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Navigation Block Simulator(NBSim)

UDP UDP

Position Resolution Block

UDP UDP

Robot Dynamical Simulator(RDSim)

UDP UDP

U-CAT

GNSS Constellation Simulator

UDP UDP

NonTConstellation ephemeris/al

manacs

NonT

U-CAT

Control Signals Robot Real

Position/Speed Satellites Attenuation

Frame: AS1 AS2 … AS24

Raw Measurements

Robot Estimated Position/Speed

Satellite Based Localization Simulator (SBLSim)

MOW-BY-SAT dissemination

Technical feasibility

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MOW-BY-SAT dissemination

Application development and trials

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FlexibleBoundary

Forbidden area

Work areaFor robot A & B

Work area For robot A

Work area

For robot BMoving areaFor robot A&B

Moving areaFor robot B only

Radio+GNSS+charging station

charging station

Radio station

Before MOW-BY-SAT (without NAVSAT):• An excellent mower robot from

Belrobotics• But no flexibility (wired boundaries)

With MOW-BY-SAT (NAVSAT):• An excellent mower robot• Working in modifiable virtual

boundaries• Able to cross boundaries

without mowing• Able to work in a group• ….

MOW-BY-SAT dissemination

Application development and trialsHow it works?

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With the MOW-BY-SAT technology:Red track

→Robot guidance becomes possible

MOW-BY-SAT dissemination

Before : Wired boundaries

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• Recharging station linked to lawn boundaries

• Mower shall always be inside the lawn• Random pattern• No flexibility

Application development and trialsHow it works?

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With NAVSAT technologies• Recharging station is not necessary

linked to the fields• Mower is always precisely located • large flexibility to change the fields• Random pattern=geo fence• Optimized pattern= geo line

geo fence mode/geo line mode

Application development and trialsHow it works?

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First demo organized in October 09 in “Stadium of Toulouse” with :• Selection of field• Geo fence• Geo line

Application development and trials

Credit ESN A. El Amin

MOW-BY-SAT dissemination

Results exploitation

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End of project in July 2010◦ A second demonstration of the BIGMOW

equipped with a GNSS guidance system is planed in April on a golf of the neighbors of Brussels (“Golf 7 fontaines”)

Potential of Exploitation:◦ Commercialization agreement between

Belrobotics and NAV ON TIME◦ potential customers: expression of interest

from “Golf de TEOULA”, and “Nouveaux Golfs de France”

◦ Extension to other machine control issues◦ Expectation of use of Galileo signals as soon

as possible (according availability of receivers)

MOW-BY-SAT dissemination

MOW-BY-SAT

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Questions?