Development of Autonomous Robotic Platform for Orchard and Vineyard Operations

This book contributes to the navigation algorithm development for an autonomous mobile orchard robot in a GNSS denied environment. In this book, an approach is provided for path planning in an orchard using an aerial view of the environment by creating Binary Occupancy Grid Maps. The path planning is further implemented by the Probabilistic Road Maps Method (PRM) over the developed Binary Occupancy Grid Maps. For robot's navigation, a navigation model is developed using kinematic equations of the robot. Further, the navigation module is used in conjunction with the path-planning module. The robot was tested successfully both in simulation as well as in the real environment.

Presents the first framework of roadmap based path planning in an orchard environment Shows navigation in a GNSS denied environment Provides simulation and real world testing testing of orchard robot

Autorentext

Satyam Raikwar studied Mechanical Engineering and Farm Machinery and Power at the Chair of Agricultural Systems and Technology, Dresden University of Technology. He is with the institute as a Scientific Researcher since 2017. His research area includes: Autonomous navigation of mobile agricultural robots, Precision Agriculture, Modeling, Simulation and control algorithm development of tractor systems.

Inhalt

State of the Art.- Mapping and Path Planning.- Robot Navigation and Model Development.- Sensor Selection for Robotic Platform.- Conclusions and Future Work.