Develop cost-effective ground robots for crop monitoring in steep slope vineyards is a complex challenge. The terrain presents harsh conditions for mobile robots and most of the time there is no one available to give support to the robots. So, a fully autonomous steep-slope robot requires a robust automatic recharging system. This work proposes a multilevel system that monitors a vineyard robot autonomy, to plan off-line the trajectory to the nearest recharging point and dock the robot on that recharging point considering visual tags. The proposed system called VineRecharge was developed to be deployed into a cost-effective robot with low computational power. Besides, this paper benchmarks several visual tags and detectors and integrates the best one into the VineRecharge system. ; This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project “POCI-01-0145-FEDER-006961”, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013. ; info:eu-repo/semantics/publishedVersion
Path planning for automatic recharging system for steep-slope vineyard robots
2018-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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