Proposed System Architecture to Enable Behavioral Control of an Autonomous Tractor

Blackmore, Simon; Fountas, Spyros; Have, H.

doi:10.13031/2013.9990

Cited by 13 publications

(17 citation statements)

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“…The answer to this general problem in robotics is hybrid systems that combine hierarchical and reactive components (cf. Blackmore et al [13]). In Murphy [52], an examination of different architectures is made.…”

Section: Proposed System Designmentioning

confidence: 99%

“…Orebäck and Christensen [61] compare three available hybrid architectures for mobile robots and present principles to guide in the design of new architectures. The design must aim at a performance, which is advantageous in the long-term, e.g., minimum risk of failure, optimal routes, and maximum utilisation [13]. Based on the requirements and techniques outlined in the previous Sections, a proposed system design is hereby presented.…”

Section: Proposed System Designmentioning

confidence: 99%

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Requirements and system design for a robot performing selective cleaning in young forest stands

Vestlund

Hellström

2006

Journal of Terramechanics

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Cleaning is a silvicultural tending operation, primarily aimed at improving the growing conditions of the remaining trees in young stands (ca. 3 m of height). The cost of cleaning has increased in comparison to other forest operations, and the annually cleaned area has decreased in Sweden. Therefore, cleaning with robots might be the key to improve profitability. This paper aims at assessing some design requirements, and suggesting an architecture for a robot cleaning in young forest stands, based on reviewed literature and our own research. The results of cleaning performed by robots have to reach acceptable results and be done at a competitive cost. The robot has to find, select, and handle trees in the whole assigned area according to given instructions. Furthermore, it must be safe for humans, capable of moving safely within the forest environment, and be able to handle snow and other prevalent boreal weather conditions. The vehicleÕs size and mass are of importance, and bear on its ability to manoeuvre among remaining stems. Generally, the robot must be capable of operating independently and unattended for several hours in a dynamic and non-deterministic environment. Obstacle avoidance and target identification are identified as the most difficult problems. Machine vision, radar, and laser scanners are promising techniques for both obstacle avoid- Journal of Terramechanicsance, tree identification, and tool control. The proposed architecture is based on a hybrid between the reactive and the hierarchical robot paradigms.

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Section: Proposed System Designmentioning

confidence: 99%

Section: Proposed System Designmentioning

confidence: 99%

Requirements and system design for a robot performing selective cleaning in young forest stands

Vestlund

Hellström

2006

Journal of Terramechanics

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“…In addition, several efforts have been made toward creating simulation platforms and frameworks that are based on the professional simulators and are customized for agricultural robotics or farm machinery. Examples include FroboMind [14] (based on Orocos and ROS), the Agricultural Architecture (Agriture) [15] (based on Gazebo, Player, and Java Agent), Agroamara [16] , and the Software Architecture for Agricultural Robots (SAFAR) [17,18] (based on MRDS). For a simulator to be practical and general purpose, it needs to provide support for different programming languages, a wide range of models, functionalities, external controllers, and a user-friendly graphical interface.…”

Section: Simulation Environmentsmentioning

confidence: 99%

“…A good example of customized simulation platform is SAFAR, the Software Architecture for Agricultural Robots. This is a joint project of UniBots (a university spin-off company based in the UK) and MobotSoft (www.mobotsoft.com) for an academic initiative for easy-to-use by non-programmers to develop a set of designs, tools, and resources to simulate agricultural robots and promote precision agriculture and smart farming [17,18] . The simulation scenes are created in Microsoft Robotics Developer Studio (MRDS) [8] .…”

Section: Other Simulators and Virtual Environmentsmentioning

confidence: 99%

Simulation software and virtual environments for acceleration of agricultural robotics: Features highlights and performance comparison

Shamshiri

Hameed

Pitonakova

et al. 2018

International Journal of Agricultural and Biological Engineering

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Abstract:Research efforts for development of agricultural robots that can effectively perform tedious field tasks have grown significantly in the past decade. Agricultural robots are complex systems that require interdisciplinary collaborations between different research groups for effective task delivery in unstructured crops and plants environments. With the exception of milking robots, the extensive research works that have been carried out in the past two decades for adaptation of robotics in agriculture have not yielded a commercial product to date. To accelerate this pace, simulation approach and evaluation methods in virtual environments can provide an affordable and reliable framework for experimenting with different sensing and acting mechanisms in order to verify the performance functionality of the robot in dynamic scenarios. This paper reviews several professional simulators and custom-built virtual environments that have been used for agricultural robotic applications. The key features and performance efficiency of three selected simulators were also compared. A simulation case study was demonstrated to highlight some of the powerful functionalities of the Virtual Robot Experimentation Platform. Details of the objects and scenes were presented as the proof-of-concept for using a completely simulated robotic platform and sensing systems in a virtual citrus orchard. It was shown that the simulated workspace can provide a configurable and modular prototype robotic system that is capable of adapting to several field conditions and tasks through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment. This review suggests that an open-source software platform for agricultural robotics will significantly accelerate effective collaborations between different research groups for sharing existing workspaces, algorithms, and reusing the materials.

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“…Object-oriented architectures are being investigated in the area of crop growth modeling (Beck et al, 2003;Pan et al, 2000). The development of agricultural autonomous vehicles is being facilitated through the use of object-oriented architectures that help enhance the collaboration of non-collocated research groups (Blackmore et al, 2002;Sorensen et al, 2002;Torrie et al, 2002;. These architectures enable reuse of software components and enable design abstraction and systematic thinking about highly complex systems.…”

Section: )mentioning

confidence: 99%

Development of a machine vision system for corn plant population, spacing and height measurement

Shrestha

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Proposed System Architecture to Enable Behavioral Control of an Autonomous Tractor

Cited by 13 publications

References 0 publications

Requirements and system design for a robot performing selective cleaning in young forest stands

Requirements and system design for a robot performing selective cleaning in young forest stands

Simulation software and virtual environments for acceleration of agricultural robotics: Features highlights and performance comparison

Development of a machine vision system for corn plant population, spacing and height measurement

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