Motion Control of Autonomous Wheeled Robots in Precision Agriculture

Tormagov, Timofey; Generalov, A. A.; Shavin, M. Yu.; Rapoport, Lev

doi:10.1134/s2075108722010072

Cited by 5 publications

(2 citation statements)

References 23 publications

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“…In [5,7] a method for constructing obstacle-free path coverage using limited curvature paths described using homogeneous cubic B-splines is proposed. Due to the presence of obstacles in the field, this method cannot be used directly.…”

Section: Figmentioning

confidence: 99%

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Path Deformation Method with Constraints on Normal Curvature for Wheeled Robots in Precision Agriculture Based on Second-Order Cone Programming

Tormagov

2024

ARC

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In precision agriculture, path planning for agricultural robots with complete covering a three-dimensional landscape is an essential task. For robots with front wheels steering the normal curvature of the trajectories should be limited to some value determined by the characteristics of the vehicle. The paper considers a method of deformation of these paths to account for obstacles for trajectories described by homogeneous cubic B-splines. We propose an optimization problem that allows calculating paths with minimizing skips in the coverage. The considered problem is convex and belongs to the class of second-order cone programming, which entails the possibility of its computationally efficient solution. The computational examples are presented.

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Section: Figmentioning

confidence: 99%

“…For autonomous robots, the trajectories of dynamic obstacle avoidance planned during the movement. Information about dynamic obstacles is collected in real time using stereo cameras, lidars and other sensors [7]. Dynamic consideration of obstacles requires the trajectory replanning [8].…”

Section: Introductionmentioning

confidence: 99%