Algebraic path tracking to aid the manual harvesting of olives using an automated service unit
作者： J Rosell Polo , F Auat Cheein , G Scaglia , Miguel Attilio Torres Torriti , J Guivant
DOI: 10.1016/J.BIOSYSTEMSENG.2015.12.006
关键词: Controller (computing) 、 Precision agriculture 、 Service robot 、 Path (graph theory) 、 Service (systems architecture) 、 Control engineering 、 Process (computing) 、 Trailer 、 Engineering 、 Yield mapping
摘要: Service units used in precision agriculture are able to improve processes such as harvesting, sowing, agrochemical application, and manure spreading. This two-part work presents, a path tracking controller based on an algebraic approach for articulated service unit, suitable embedded applications, its implementation hierarchical navigation strategy aid manual harvesting process. The can be scaled several trailers attached the unit. For unit drives within olive grove environment following previously developed trailer is mobile hopper where olives, collected by human labour, deposited. also registers geo-references amount of olives (mass) subsequent creation yield maps. improved time associated with approximately 42–45%. mathematical formulation problem, some real experimental results, map statistical analysis that validated method included.
core.ac.uk 
sci-hub.se 参考文章(36)
D. Bochtis, H.W. Griepentrog, S. Vougioukas, P. Busato, R. Berruto, K. Zhou, Route planning for orchard operations Computers and Electronics in Agriculture. ,vol. 113, pp. 51- 60 ,(2015) , 10.1016/J.COMPAG.2014.12.024
M. Pérez-Ruiz, J. Agüera, J. A. Gil, D. C. Slaughter, Optimization of agrochemical application in olive groves based on positioning sensor Precision Agriculture. ,vol. 12, pp. 564- 575 ,(2011) , 10.1007/S11119-010-9200-7
Fernando Alfredo Auat Cheein, Ricardo Carelli, Agricultural Robotics: Unmanned Robotic Service Units in Agricultural Tasks IEEE Industrial Electronics Magazine. ,vol. 7, pp. 48- 58 ,(2013) , 10.1109/MIE.2013.2252957
Brennon A. Wood, Hugh T. Blair, David I. Gray, Peter D. Kemp, Paul R. Kenyon, Steve T. Morris, Alison M. Sewell, Agricultural Science in the Wild: A Social Network Analysis of Farmer Knowledge Exchange PLoS ONE. ,vol. 9, pp. e105203- ,(2014) , 10.1371/JOURNAL.PONE.0105203
Noboru Noguchi, Jeff Will, John Reid, Qin Zhang, Development of a master-slave robot system for farm operations Computers and Electronics in Agriculture. ,vol. 44, pp. 1- 19 ,(2004) , 10.1016/J.COMPAG.2004.01.006
Kanae Tanigaki, Tateshi Fujiura, Akira Akase, Junichi Imagawa, Cherry-harvesting robot Computers and Electronics in Agriculture. ,vol. 63, pp. 65- 72 ,(2008) , 10.1016/J.COMPAG.2008.01.018
D.D. Bochtis, C.G. Sørensen, S.G. Vougioukas, Original paper: Path planning for in-field navigation-aiding of service units Computers and Electronics in Agriculture. ,vol. 74, pp. 80- 90 ,(2010) , 10.1016/J.COMPAG.2010.06.008
Thomas Rath, Marco Kawollek, Robotic harvesting of Gerbera Jamesonii based on detection and three-dimensional modeling of cut flower pedicels Computers and Electronics in Agriculture. ,vol. 66, pp. 85- 92 ,(2009) , 10.1016/J.COMPAG.2008.12.006
Qi Wang, Qin Zhang, Francisco Rovira-Más, Lei Tian, Stereovision-based lateral offset measurement for vehicle navigation in cultivated stubble fields Biosystems Engineering. ,vol. 109, pp. 258- 265 ,(2011) , 10.1016/J.BIOSYSTEMSENG.2011.04.006
Fuhong Dong, Wolfgang Heinemann, Roland Kasper, Development of a row guidance system for an autonomous robot for white asparagus harvesting Computers and Electronics in Agriculture. ,vol. 79, pp. 216- 225 ,(2011) , 10.1016/J.COMPAG.2011.10.002