A Comprehensive Review of Path Planning for Agricultural Ground Robots

Chakraborty, Suprava; Elangovan, D.; Govindarajan, Padma Lakshmi; El-Naggar, Mohamed; Alrashed, Mohammed M.; Kamel, Salah

doi:10.3390/su14159156

Cited by 40 publications

(19 citation statements)

References 99 publications

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“…Comprehensive studies on CPP for a single robot have been conducted [12][13]. Their field of research was mainly concerned with coverage completeness and minimizing overlap of coverage paths [14].…”

Section: Related Workmentioning

confidence: 99%

An Efficient Coverage Area Re-Assignment Strategy for Multi-Robot Long-Term Surveillance

Lee

2023

IEEE Access

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This study deals with a new strategy of the re-assignment for multi-robot seamless coverage tasks using the concept of propagation in a multi-robot surveillance system (MRSS). In the context of MRSSs, multi-robot coverage tasks play a critical role. These tasks require generating paths for two or more robots to cover an entire area, with the objective of minimizing the time needed to complete the task. However, over time, robots may need to be excluded from coverage missions due to issues such as battery charging or malfunctions. It is important to handle these situations efficiently in order to maintain the completeness and balance of the coverage mission. Typically, it can be resolved by either recomputing the coverage algorithm for the remaining robots or redistributing the coverage task of the excluded robot to its neighbors. However, in the proposed method, the amount of coverage area of the excluded robot is equally and efficiently assigned to the remaining robots. First off, a relational graph between robots and a tree based on the excluded robot are sequentially constructed to necessarily know how the robots are geometrically arranged in the given area centered on the excluded robot. The excluded robot becomes the root of the tree, and the depth of the tree indicates the proximity of the coverage areas. Subsequently, the amount of the original coverage area of the excluded robot can be differently assigned to its nearest neighbor robots according to the size of the subtree. Then, the coverage area of the robots corresponding to the second level of the tree are added from the partial coverage area of their parent robot to keep their coverage area balanced, respectively. The similar process is continuously performed, such as 'propagation', until the re-assignment of the coverage area over the leaf nodes is complete. Finally, balanced coverage area is re-assigned to the remaining robots, which is time-efficiently computed. Simulations were performed on two occupancy grid maps that were acquired from a simultaneous localization and mapping method. The proposed method was evaluated against conventional methods on three factors such as the balanced re-assignment of the coverage area (Balancing), the variation of the individual coverage area before and after the re-assignment process (Seamless Coverage), and the total computational efficiency over time (Time-efficiency). The coverage area was uniformly re-allocated after the proposed method was applied. In addition, the proposed method had a short calculation time and enables seamless coverage even after re-allocation. In the future, probabilistic maps related to the importance rate, accident rate, and crowds in the coverage area will also be taken into consideration.

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Section: Related Workmentioning

confidence: 99%

An Efficient Coverage Area Re-Assignment Strategy for Multi-Robot Long-Term Surveillance

Lee

2023

IEEE Access

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“…Modern agricultural robots can provide more than just traditional machinery substitution (land preparation, sowing, planting, plant treatment, harvesting) [136], such new functions are mapping, insect pest monitoring, artificial pollination, yield estimation and phenotyping [137]. The major problems to be solved in unmanned agricultural vehicles [136] (the market worth of $10Bs) are: navigation [138]; stability [139]; power; data [140]. AV structures could ensure precise navigation and railing to ensure stability of the vehicles, as well as safe piping for irrigation and spraying.…”

Section: Electric and Unmanned Agricultural Vehicles Robotisationmentioning

confidence: 99%

A Mini-Review of Current Activities and Future Trends in Agrivoltaics

Klokov¹,

Loktionov²,

Loktionov³

et al. 2023

Preprint

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Agrivoltaics (Agri-PV, AV) – the joint use of land for the production of agricultural products and energy – has recently been rapidly gaining popularity, as it can significantly increase income per unit of land area. In a broad sense, AV systems can include converters of not only solar, but also energy from any other local renewable source, including bioenergy. Current approach to AV represents an evolutionary development of agroecology and integrated PV power supply to the grid. That results in nearly doubled income per unit area. While AV could provide a basis for revolution in large-scale unmanned precision agriculture and smart farming which is impossible without on-site power supply, chemical fertilisation and pesticides reduction, and yield processing on-site. These approaches could change the logistics and the added value production chain in agriculture dramatically, and so, reduce its carbon footprint. Utilisation of decommissioned solar panels in AV could make the technology twice cheaper and postpone the need for bulk PV recycling. Unlike the mainstream discourse on the topic, this review feature is in focusing on the possibilities for AV to be stronger integrated into agriculture that could also help in relevant legal collisions (considered as neither rather than both components) resolution.

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“…A very thorough and recent review on route planning in CCPP is given in Tan et al (2021), classifying the discussed methods in classical and heuristic approaches, and comparing their advantages and disadvantages. In Chakraborty et al (2022) a review focusing explicitly on agricultural ground robots is given, where both point‐to‐point and coverage path planning is being tackled. Santos et al (2020) also focuses exclusively on coverage path planning for agricultural ground robots, but for both Chakraborty et al (2022) and Santos et al (2020) the focus is mainly on a meta‐analysis and comparison of existing literature, rather than providing details on the content of the literature itself.…”

Section: Introductionmentioning

confidence: 99%

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

Höffmann,

Patel,

Büskens

2024

Journal of Field Robotics

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The Complete Coverage Path Planning (CCPP) problem is a subfield of industrial motion planning that has applications in various domains, ranging from mobile robotics to treatment applications. Especially in precision agriculture with a high level of automation, the use of CCPP techniques is essential for efficient resource utilization, reduced soil compaction, and increased yields. This paper reviews the CCPP problem in the context of machines operating in agricultural fields and proposes a methodological approach consisting of three steps: Generating the Guidance Tracks (i.e., the track system along which the path should be oriented), determining the traversing sequence through these tracks, and planning a smooth and drivable path. This paper provides an in‐depth review of optimization‐based approaches that deal with the first step, the generation of the guidance track system. Thereby, a comprehensive and pedagogical approach for the generation of guidance tracks for arbitrarily shaped two‐dimensional regions of interest is provided, along with an overview and detailed elaboration on different exact cellular decomposition techniques found in literature. Furthermore, cost functions are outlined for the different approaches presented in this work, which are utilized to generate optimal guidance tracks. Finally, this survey serves as an introductory guide for research and practitioners to solve the CCPP problem effectively and efficiently.

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A Comprehensive Review of Path Planning for Agricultural Ground Robots

Cited by 40 publications

References 99 publications

An Efficient Coverage Area Re-Assignment Strategy for Multi-Robot Long-Term Surveillance

An Efficient Coverage Area Re-Assignment Strategy for Multi-Robot Long-Term Surveillance

A Mini-Review of Current Activities and Future Trends in Agrivoltaics

Optimal guidance track generation for precision agriculture: A review of coverage path planning techniques

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