Navigation of autonomous tractor for orchards and plantations using a laser range finder: Automatic control of trailer position with tractor

Thanpattranon, Pawin; Ahamed, Tofael; Takigawa, Tomohiro

doi:10.1016/j.biosystemseng.2016.02.009

Cited by 70 publications

(24 citation statements)

References 13 publications

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“…Furthermore, a number of studies jointly explored the use of simulation methods in 2D environments along with real-world implementations on the field [28,36,47,49,58,59]. Typically, in such studies: the farming plans and the vehicles' trajectories are firstly being implemented at the 2D environment; the real-world vehicle uses the algorithms for navigating in the actual field while simultaneously providing real-time feedback to the algorithm based on the data gathered through sensors.…”

Section: Cyber-physical Interface: Joint Simulation Emulation and Rementioning

confidence: 99%

AgROS: A Robot Operating System Based Emulation Tool for Agricultural Robotics

2019

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This research aims to develop a farm management emulation tool that enables agrifood producers to effectively introduce advanced digital technologies, like intelligent and autonomous unmanned ground vehicles (UGVs), in real-world field operations. To that end, we first provide a critical taxonomy of studies investigating agricultural robotic systems with regard to: (i) the analysis approach, i.e., simulation, emulation, real-world implementation; (ii) farming operations; and (iii) the farming type. Our analysis demonstrates that simulation and emulation modelling have been extensively applied to study advanced agricultural machinery while the majority of the extant research efforts focuses on harvesting/picking/mowing and fertilizing/spraying activities; most studies consider a generic agricultural layout. Thereafter, we developed AgROS, an emulation tool based on the Robot Operating System, which could be used for assessing the efficiency of real-world robot systems in customized fields. The AgROS allows farmers to select their actual field from a map layout, import the landscape of the field, add characteristics of the actual agricultural layout (e.g., trees, static objects), select an agricultural robot from a predefined list of commercial systems, import the selected UGV into the emulation environment, and test the robot’s performance in a quasi-real-world environment. AgROS supports farmers in the ex-ante analysis and performance evaluation of robotized precision farming operations while lays the foundations for realizing “digital twins” in agriculture.

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Section: Cyber-physical Interface: Joint Simulation Emulation and Rementioning

confidence: 99%

AgROS: A Robot Operating System Based Emulation Tool for Agricultural Robotics

2019

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“…Automatic guidance and steering control systems for agricultural vehicles have been commercially available for about 20 years. These systems guide vehicles precisely with navigation based on global positioning systems or systems that place the vehicle relative to the crop, with minimal driver interaction (e.g., Lipiński et al, 2016;Thanpattranon et al, 2016). Such systems reduce driver fatigue (Kvíz and Kroulík, 2017) and enable the driver to better monitor implement and machine operations.…”

Section: Automatic Vehicle Guidance and Steering Controlmentioning

confidence: 99%

Autonomous Technologies in Agricultural Equipment: A Review of the State of the Art

2019

2019 Agricultural Equipment Technology Conference

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“…Over the past several decades, a considerable number of studies have been conducted on robot localization. In the field of agricultural machinery, the use of DGPS (Inoue, et al, 2009), RTK-GPS (Kise, et al, 2001), total station with automatic target recognition (Matsuo, et al, 2008), and laser range finders (Thanpattranon, et al, 2016) are typical examples. Although the localization accuracies of some studies are remarkable, they have major problems of a high initial cost and fixing of a base station.…”

Section: Objectivesmentioning

confidence: 99%

Two-dimensional localization system of a legged robot for shaft tillage cultivation

Tatsuno

Tajima

Inagaki

2017

Mechanical Engineering Journal

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We studied shaft tillage cultivation as practiced by an autonomous robot. Through previous studies, we determined that leg locomotion has a higher compatibility with the shaft tillage method than wheeled locomotion. Therefore, we are currently developing a legged robot for shaft tillage cultivation. In general, robots require a positioning system to autonomously travel in fields. The objectives of this study are the development of a localization method for an agricultural legged robot and an evaluation of the localization method. We assumed that an agricultural legged robot exhibits its slowest wave gait when walking. In this gait, after each leg is sequentially moved, the body is moved forward to complete one movement. This means that the body stops for a long time despite the robot is walking. The proposed localization method utilizes this unique characteristic of the legged robot. This study first reports on the development of localization using a laser distance sensor and a pan-tilt unit. Secondly, we report on a localization experiment to evaluate the localization accuracy of the proposed method. In this experiment, a total station with automatic target recognition was used as a ground truth. From the experimental results, we found that the measurement error between the proposed method and the total station data was approximately 14 mm and 0.232• . Additionally, we found that we could improve the localization accuracy if we could fix the reflector sheet with higher accuracy and replace the laser distance sensor with a more precise resolution. Therefore, we determined that the legged robot will be able to autonomously travel with a positioning accuracy of approximately 10 mm when using the proposed localization method.

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Navigation of autonomous tractor for orchards and plantations using a laser range finder: Automatic control of trailer position with tractor

Cited by 70 publications

References 13 publications

AgROS: A Robot Operating System Based Emulation Tool for Agricultural Robotics

AgROS: A Robot Operating System Based Emulation Tool for Agricultural Robotics

Autonomous Technologies in Agricultural Equipment: A Review of the State of the Art

Two-dimensional localization system of a legged robot for shaft tillage cultivation

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