In the last years, unmanned aerial vehicles are becoming a reality in the context of precision agriculture, mainly for monitoring, patrolling and remote sensing tasks, but also for 3D map reconstruction. In this paper, we present an innovative approach where a fleet of unmanned aerial vehicles is exploited to perform remote sensing tasks over an apple orchard for reconstructing a 3D map of the field, formulating the covering control problem to combine the position of a monitoring target and the viewing angle. Moreover, the objective function of the controller is defined by an importance index, which has been computed from a multi-spectral map of the field, obtained by a preliminary flight, using a semantic interpretation scheme based on a convolutional neural network. This objective function is then updated according to the history of the past coverage states, thus allowing the drones to take situation-adaptive actions. The effectiveness of the proposed covering control strategy has been validated through simulations on a Robot Operating System. Copyright (C) 2022 The Authors.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    3D Map Reconstruction of an Orchard using an Angle-Aware Covering Control Strategy


    Beteiligte:
    Mammarella, M (Autor:in) / Donati, C (Autor:in) / Shimizu, T (Autor:in) / Suenaga, M (Autor:in) / Comba, L (Autor:in) / Biglia, A (Autor:in) / Uto, K (Autor:in) / Hatanaka, T (Autor:in) / Gay, P (Autor:in) / Dabbene, F (Autor:in)

    Erscheinungsdatum :

    2022-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Hydraulic system of orchard pit digging, fertilizing and soil covering machine

    YANG FUZENG / LI YILIN | Europäisches Patentamt | 2020

    Freier Zugriff

    Angle-Aware Coverage Control for 3-D Map Reconstruction With Drone Networks

    Shimizu, Takumi / Yamashita, Shunya / Hatanaka, Takeshi et al. | BASE | 2022

    Freier Zugriff

    Electric covering cap angle control circuit and control method

    ZHOU LEI / LIAO QINGSHAN / YAN ZHANGPING et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Way-points Coverage Control and Simulation of Orchard Vehicle for Orchard Area

    Shen, Mingjie / Qiu, Huipeng / Song, Jiacheng et al. | IEEE | 2023


    Orchard grass control cloth winding machine

    SONG SHURAN / ZHOU FANG / SUN DAOZONG et al. | Europäisches Patentamt | 2021

    Freier Zugriff