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Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance
https://kitami-it.repo.nii.ac.jp/records/2000355
https://kitami-it.repo.nii.ac.jp/records/2000355f26616e3-969c-408b-85af-cbb560ccd634
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
agriculture-11-00954-v4.pdf (4.2 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||||||||||
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| 公開日 | 2022-12-16 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| 著者 |
Abhijeet Ravankar
× Abhijeet Ravankar
× Ankit A. Ravankar
× Arpit Rawankar
× Yohei Hoshino
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Abstract: In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards. |
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| 言語 | en | |||||||||||||
| 書誌情報 |
en : Agriculture 巻 11, p. 954, 発行日 2021 |
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| DOI | ||||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.3390/agriculture11100954 | |||||||||||||
| 権利 | ||||||||||||||
| 言語 | en | |||||||||||||
| 権利情報 | © 2021 by the authors. Licensee MDPI | |||||||||||||
| 出版者 | ||||||||||||||
| 出版者 | MDPI | |||||||||||||
| 言語 | en | |||||||||||||
| 著者版フラグ | ||||||||||||||
| 言語 | en | |||||||||||||
| 値 | publisher | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
