Open document
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General information |
| Author |
Hameed, Ibrahim A.; Bochtis, Dionysis; Sørensen, Claus A. |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Technological advances combined with the
demand of cost efficiency and environmental
considerations has led farmers to review their practices
towards the adoption of new managerial approaches,
including enhanced automation. The application of field
robots is one of the most promising advances among
automation technologies. Since the primary goal of an
agricultural vehicle is the complete coverage of the
cropped area within a field, an essential prerequisite is
the capability of the mobile unit to cover the whole field
area autonomously. In this paper, the main objective is
to develop an approach for coverage planning for
agricultural operations involving the presence of
obstacle areas within the field area. The developed
approach involves a series of stages including the
generation of field‐work tracks in the field polygon, the
clustering of the tracks into blocks taking into account
the in‐field obstacle areas, the headland paths
generation for the field and each obstacle area, the
implementation of a genetic algorithm to optimize the
sequence that the field robot vehicle will follow to visit
the blocks and an algorithmic generation of the task
sequences derived from the farmer practices. This
approach has proven that it is possible to capture the
practices of farmers and embed these practices in an
algorithmic description providing a complete field area
coverage plan in a form prepared for execution by the
navigation system of a field robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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