Automated agricultural operations must be planned and organized to reduce risk and failure potential while optimizing productivity and efficiency. However, the diversity of natural outdoor environments and the varied data types and volumes required to represent an agricultural setting comprise critical challenges for the deployment of fully automated agricultural operations. In this regard, this study develops an integrated system for enabling an unmanned aerial vehicle (UAV) supported route planning system for unmanned ground vehicles (UGVs) in the semi-structured environment of orchards. The research focus is on the underpinning planning system components (i.e., world representation or map generation or perception and path planning). In particular, the system comprises a digital platform that receives as input a geotagged depiction of an orchard, which is obtained by a UAV. The pre-processed data define the agri-field’s tracks that are transformed into a grid-based map capturing accessible areas. The grid map is then used to generate a topological path planning solution. Subsequently, the solution is translated into a sequence of coordinates that define the calculated optimal path for the UGV to traverse. The applicability of the developed system was validated in routing scenarios in a walnuts’ orchard using a UGV. The contribution of the proposed system entails noise reduction techniques for the accurate representation of a semi-deterministic agricultural environment for enabling accuracy in the route planning of utilized automated machinery.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    UAV-Supported Route Planning for UGVs in Semi-Deterministic Agricultural Environments


    Beteiligte:

    Erscheinungsdatum :

    2022-08-01


    Anmerkungen:

    Katikaridis , D , Moysiadis , V , Tsolakis , N , Busato , P , Kateris , D , Pearson , S , Sørensen , C G & Bochtis , D 2022 , ' UAV-Supported Route Planning for UGVs in Semi-Deterministic Agricultural Environments ' , Agronomy , vol. 12 , no. 8 , 1937 . https://doi.org/10.3390/agronomy12081937



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    UAV-Supported Route Planning for UGVs in Semi-Deterministic Agricultural Environments

    Katikaridis, D / Moysiadis, V / Tsolakis, N et al. | BASE | 2022

    Freier Zugriff

    Formation Planning and Control of UGVs with Trailers

    Hao, Y. / Agrawal, S. K. | British Library Online Contents | 2005


    Formation planning and control of UGVs with trailers

    Hao, Yongxing / Agrawal, Sunil K. | Tema Archiv | 2005


    Optimal positioning of surveillance UGVs

    Nilsson, U. / Ogren, P. / Thunberg, J. | Tema Archiv | 2008


    Path Planning for UGVs Based on Traversability Hybrid A*

    Thoresen, Marius / Nielsen, Niels Hygum / Mathiassen, Kim et al. | BASE | 2021

    Freier Zugriff