Route planning for orchard operations

摘要: Mission and route planning for an agricultural robot.Orchards is a well-suited operational environment the application of deterministic behaviour robotic systems.Modelling inter- intra-row orchards operations.Reduction in non-working time ranged between 10.7% 32.4%. Orchard operations are considered promising area implementation systems because inherent structured that arises from time-independent spatial tree configurations. In this paper, approach developed tested using robot (named AMS - autonomous mechanisation system). The core method generation routing plans intra- inter-row orchard operations, based on adaptation optimal coverage arable farming (B-patterns). Experiments have verified efficiencies can be improved significantly compared with conventional, non-optimised executing operations. Specifically, experimental results showed reduction 32.4% distance 17.5% 40.2% resulting to savings total travelled 2.2% 6.4%.