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Fast return path planning for agricultural autonomous terrestrial robot in a known field

2019Journal article Open access
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dc.contributor.authorCernicchiaro, Carlo
dc.contributor.authorGaspar, Pedro Dinis
dc.contributor.authorAguiar, Martim
dc.date.accessioned2019-11-05T16:15:11Z
dc.date.available2019-11-05T16:15:11Z
dc.date.issued2019
dc.description.abstractThe agricultural sector is becoming more critical than ever in view of the expected overpopulation of the Earth. The introduction of robotic solutions in this field is an increasingly researched topic to make the most of the Earth's resources, thus going to avoid the problems of wear and tear of the human body due to the harsh agricultural work, and open the possibility of a constant careful processing 24 hours a day. This project is realized for a terrestrial autonomous robot aimed to navigate in an orchard collecting fallen peaches below the trees. When it receives the signal indicating the low battery, it has to return to the docking station where it will replace its battery and then return to the last work point and resume its routine. Considering a preset path in orchards with tree rows with variable length by which the robot goes iteratively using the algorithm D*. In case of low battery, the D* algorithm is still used to determine the fastest return path to the docking station as well as to come back from the docking station to the last work point. MATLAB simulations were performed to analyze the flexibility and adaptability of the developed algorithm. The simulation results show an enormous potential for adaptability, particularly in view of the irregularity of orchard field, since it is not flat and undergoes modifications over time from fallen branch as well as from other obstacles and constraints. The D* algorithm determines the best route in spite of the irregularity of the terrain. Moreover, in this work, it will be shown a possible solution to improve the initial points tracking and reduce time between movements.pt_PT
dc.description.sponsorshipProject PrunusBot - Sistema robótico aéreo autónomo de pulverização controlada e previsão de produção frutícola (autonomous unmanned aerial robotic system for controlled spraying and prediction of fruit production), Operation n.º PDR2020-101-031358 (leader), Consortium n.º 340, Initiative n.º 140 promoted by PDR2020 and co-financed by FEADER under the Portugal 2020 initiative.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.urihttp://hdl.handle.net/10400.6/7514
dc.language.isoengpt_PT
dc.publisher21st International Conference on Agricultural Robotics, Automation and Control (ICARAC 2019)pt_PT
dc.subjectPath planningpt_PT
dc.subjectFastest return pathpt_PT
dc.subjectAgricultural terrestrial robotpt_PT
dc.subjectAutonomouspt_PT
dc.subjectDocking stationpt_PT
dc.titleFast return path planning for agricultural autonomous terrestrial robot in a known fieldpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.title21st International Conference on Agricultural Robotics, Automation and Controlpt_PT
person.familyNameGaspar
person.familyNameAguiar
person.givenNamePedro Dinis
person.givenNameMartim
person.identifier.ciencia-id6111-9F05-2916
person.identifier.orcid0000-0003-1691-1709
person.identifier.orcid0000-0003-0672-0378
person.identifier.ridN-3016-2013
person.identifier.scopus-author-id57419570900
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationb69e2ba0-43af-4cf7-873e-090fd9fc6c94
relation.isAuthorOfPublication95cdd8b0-fb9e-409c-b8fd-b661bab52972
relation.isAuthorOfPublication.latestForDiscovery95cdd8b0-fb9e-409c-b8fd-b661bab52972

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