Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125893
Halil Utku Unlu, Dimitris Chaikalis, Athanasios Tsoukalas, A. Tzes
This paper is concerned with the safe path planning of a drone while exploring an unknown space. The drone is localized by fusing measurements from sensors including an IMU, RGB-D sensor, and an optical flow system, while executing an RTAB-Map SLAM algorithm. The 3D-occupancy Octomap is generated online and a slicing algorithm is employed to compute 2D-maps. The maps' traversible coordinates are identified and used as potential points for the drone intermediate navigation to the destination. The final segment corresponds to a shortest Chebyshev-length path between all frontier pixels and the endpoint over the unexplored map region. The drone's path is computed using a skeletal path between the identified map boundaries so that the drone moves from its current location through the free map coordinates to the destination point. Simulation studies using within the interior of an apartment indicate the efficiency and effectiveness of the proposed method.
{"title":"UAV- Navigation Using Map Slicing and Safe Path Computation","authors":"Halil Utku Unlu, Dimitris Chaikalis, Athanasios Tsoukalas, A. Tzes","doi":"10.1109/ICARA56516.2023.10125893","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125893","url":null,"abstract":"This paper is concerned with the safe path planning of a drone while exploring an unknown space. The drone is localized by fusing measurements from sensors including an IMU, RGB-D sensor, and an optical flow system, while executing an RTAB-Map SLAM algorithm. The 3D-occupancy Octomap is generated online and a slicing algorithm is employed to compute 2D-maps. The maps' traversible coordinates are identified and used as potential points for the drone intermediate navigation to the destination. The final segment corresponds to a shortest Chebyshev-length path between all frontier pixels and the endpoint over the unexplored map region. The drone's path is computed using a skeletal path between the identified map boundaries so that the drone moves from its current location through the free map coordinates to the destination point. Simulation studies using within the interior of an apartment indicate the efficiency and effectiveness of the proposed method.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125094406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125981
I. Menshikov, K. Orlov, V. Berestov, Alexandra Bernadotte
The paper presented a Personalized Intelligent Vascular 3D Simulator as an essential part of the Intelligent Robotic Ecosystem LevshAI for remote endovascular neurosurgery. The training LevshAI is equipped with intelligent haptic feedback and Personalized 3D Simulator. The simulator creates a unique personal vascular architecture according to the individual patient parameters obtained from the medical images. The Personalized 3D Simulator allows surgeons to practice on the simulator and choose the best tactics before the operation - personalized surgery. The feedback and simulator of the LevshAI system provide a training environment identical to what a surgeon would experience in an operating room. The simulator is based on proposed segmentation and reconstruction algorithms. The presented algorithms are fully automated and can be applied to any imaging modality. The simulator has passed a preclinical study on both Computed Tomography Angiography and Magnetic Resonance Angiography data. The Personalized Intelligent Vascular 3D Simulator can be applied to (1) personalized surgery; (2) automated screening for cerebrovascular risks in healthy people.
{"title":"Preoperative Personalized Vascular 3D Simulator of the Intelligent Robotic Ecosystem LevshAI for Endovascular Neurosurgery","authors":"I. Menshikov, K. Orlov, V. Berestov, Alexandra Bernadotte","doi":"10.1109/ICARA56516.2023.10125981","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125981","url":null,"abstract":"The paper presented a Personalized Intelligent Vascular 3D Simulator as an essential part of the Intelligent Robotic Ecosystem LevshAI for remote endovascular neurosurgery. The training LevshAI is equipped with intelligent haptic feedback and Personalized 3D Simulator. The simulator creates a unique personal vascular architecture according to the individual patient parameters obtained from the medical images. The Personalized 3D Simulator allows surgeons to practice on the simulator and choose the best tactics before the operation - personalized surgery. The feedback and simulator of the LevshAI system provide a training environment identical to what a surgeon would experience in an operating room. The simulator is based on proposed segmentation and reconstruction algorithms. The presented algorithms are fully automated and can be applied to any imaging modality. The simulator has passed a preclinical study on both Computed Tomography Angiography and Magnetic Resonance Angiography data. The Personalized Intelligent Vascular 3D Simulator can be applied to (1) personalized surgery; (2) automated screening for cerebrovascular risks in healthy people.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125544916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Scraping is a key technology in high-precision machine tool machining. Scraping can eliminate the accumulated tolerances and improve the assembly accuracy of the machine tool. Scraping is a time-consuming and tedious manual labor, which is usually conducted by experienced technician. To overcome these shortcomings, a novel automatic scraping robot was designed and tested in this study. The robot includes a 3-axis moving mechanism, a vision recognition system, a 3-D measurement system, and a control system. In this study, milling is used to simulate the shape of tool marks in the traditional scraping process. After a series of tests, the designed robot has been verified to be able to perform automatic scraping work. The workpiece scraped with this robot meets the standard of a high precision machine.
{"title":"Design and Feasibility Test of an Automatic Scraping Robot","authors":"Zhenmeng Cui, Liang Han, Guancheng Dong, Yingze Lin, Yangzhen Gao, Shuaishuai Fan","doi":"10.1109/ICARA56516.2023.10125772","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125772","url":null,"abstract":"Scraping is a key technology in high-precision machine tool machining. Scraping can eliminate the accumulated tolerances and improve the assembly accuracy of the machine tool. Scraping is a time-consuming and tedious manual labor, which is usually conducted by experienced technician. To overcome these shortcomings, a novel automatic scraping robot was designed and tested in this study. The robot includes a 3-axis moving mechanism, a vision recognition system, a 3-D measurement system, and a control system. In this study, milling is used to simulate the shape of tool marks in the traditional scraping process. After a series of tests, the designed robot has been verified to be able to perform automatic scraping work. The workpiece scraped with this robot meets the standard of a high precision machine.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129567435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125673
Alberto Sartori, R. Waspe, Christian Schlette
With the increasing complexity of industrial systems, it is required to involve different components in robotic applications. The interfaces used to access information and control processes are of great importance for developing interconnected Industry 4.0 solutions. To improve the connectivity of the software used for research on industrial automation, we introduce an MQTT Extension that enables external clients to read and write the values of the properties used to digitally describe a robotic system. The integration of an MQTT interface allows parametrizing blocks in a Visual Programming environment, enabling external clients to ask for simulations of robot motions for a specific target position. The introduced functionality is demonstrated in two applications where the outcome of a program simulation is stored in a database and later executed in a real demonstrator using an industrial robot, and where a virtual robot provides on-demand motion simulations.
{"title":"MQTT Enabled Simulation Interface for Motion Execution of Industrial Robots","authors":"Alberto Sartori, R. Waspe, Christian Schlette","doi":"10.1109/ICARA56516.2023.10125673","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125673","url":null,"abstract":"With the increasing complexity of industrial systems, it is required to involve different components in robotic applications. The interfaces used to access information and control processes are of great importance for developing interconnected Industry 4.0 solutions. To improve the connectivity of the software used for research on industrial automation, we introduce an MQTT Extension that enables external clients to read and write the values of the properties used to digitally describe a robotic system. The integration of an MQTT interface allows parametrizing blocks in a Visual Programming environment, enabling external clients to ask for simulations of robot motions for a specific target position. The introduced functionality is demonstrated in two applications where the outcome of a program simulation is stored in a database and later executed in a real demonstrator using an industrial robot, and where a virtual robot provides on-demand motion simulations.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130939667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10126025
M. Folgheraiter, Sharafatdin Yessirkepov, T. Umurzakov, R. Korabay
A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 $ for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.
{"title":"NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot","authors":"M. Folgheraiter, Sharafatdin Yessirkepov, T. Umurzakov, R. Korabay","doi":"10.1109/ICARA56516.2023.10126025","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10126025","url":null,"abstract":"A newly developed full-size (1.1 m), lightweight (14 kg), and low-cost (5.000 $ for components and materials) bipedal robot is presented. The entire mechanical structure is realized in aluminum, while the feet, to allow absorbing the impact forces, include elastic elements at the ankle level. The mechanical and electrical design are introduced together with the solution of the inverse kinematics based on the successive screw displacements method. Preliminary tests, conducted in a simulation environment and on the real robot prototype, show the low requirements in term of joint torques and energy consumption (408 W) while performing a static walking gate.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125206967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125885
Linzhi Zeng, Siyuan Feng, Jining Liu, Wenjie Song
The centralized path planning framework for multi-unmanned vehicles tends to get messy when emergency occurs, creating a series of systemic conflicts and almost impossible to return to normal spontaneously. Thus, this paper improves the Multi-UGVs Collaborative Path Planning system through emergency response planning and system recovery to eliminate the conflicts caused by emergencies. The rapid emergency response planning method is developed based on heuristic search to quickly locate a shelter with a response trajectory without disturbing other normal vehicles for each affected vehicle in real time. And then the affected vehicles can complete recovery process by introducing an asynchronous starting conflict based search (CBS) algorithm. The experiments carried out in Rviz simulation environments prove that the proposed method has good practicability and stability.
{"title":"Multi-UGVs Collaborative Path Planning and Conflicts Eliminating in Emergent Situations","authors":"Linzhi Zeng, Siyuan Feng, Jining Liu, Wenjie Song","doi":"10.1109/ICARA56516.2023.10125885","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125885","url":null,"abstract":"The centralized path planning framework for multi-unmanned vehicles tends to get messy when emergency occurs, creating a series of systemic conflicts and almost impossible to return to normal spontaneously. Thus, this paper improves the Multi-UGVs Collaborative Path Planning system through emergency response planning and system recovery to eliminate the conflicts caused by emergencies. The rapid emergency response planning method is developed based on heuristic search to quickly locate a shelter with a response trajectory without disturbing other normal vehicles for each affected vehicle in real time. And then the affected vehicles can complete recovery process by introducing an asynchronous starting conflict based search (CBS) algorithm. The experiments carried out in Rviz simulation environments prove that the proposed method has good practicability and stability.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130479023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125819
Abdussalam A. Alajami, Lucas Damian Santa Cruz, R. Pous
The problem of increasing the operation time and extending the mobility of the limited energy capacity smallsized Unmanned Aerial Vehicles (UAVs) is studied in this paper. This paper presents a hybrid robot design and a simplified energy-efficient locomotion strategy solution that enables ground mobility locomotion for UAVs. The proposed strategy does not require installing motors for ground mobility, however, it exploits the UAV for generating taxiing locomotion. The proposed hybrid robot design, shares important characteristics of 2 heterogeneous types of robots, “Unmanned Ground Vehicles (UGVs)” and “UAVs” for the purpose of exploiting the benefits and mitigating some drawbacks that are associated with each robot type. The design consists of a quadcopter, 2 big freely rotating passive side wheels, 3 small front wheels for ground stabilization, and an autonomous custom braking system onboard.
{"title":"Design of an Energy-Efficient Self-Heterogeneous Aerial-Ground Vehicle","authors":"Abdussalam A. Alajami, Lucas Damian Santa Cruz, R. Pous","doi":"10.1109/ICARA56516.2023.10125819","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125819","url":null,"abstract":"The problem of increasing the operation time and extending the mobility of the limited energy capacity smallsized Unmanned Aerial Vehicles (UAVs) is studied in this paper. This paper presents a hybrid robot design and a simplified energy-efficient locomotion strategy solution that enables ground mobility locomotion for UAVs. The proposed strategy does not require installing motors for ground mobility, however, it exploits the UAV for generating taxiing locomotion. The proposed hybrid robot design, shares important characteristics of 2 heterogeneous types of robots, “Unmanned Ground Vehicles (UGVs)” and “UAVs” for the purpose of exploiting the benefits and mitigating some drawbacks that are associated with each robot type. The design consists of a quadcopter, 2 big freely rotating passive side wheels, 3 small front wheels for ground stabilization, and an autonomous custom braking system onboard.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117069204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125818
Ashok Kumar Sivarathri, Amit Shukla, Ayush Gupta
UAV-AGV multi-agent system is attracting the mobile robotics research community due to its applications in several engineering disciplines. It's a heterogeneous combination of UAV and AGV. Collaborative kinematics between both agents is necessity of the system for better utilization of independent capabilities. Vision-based method is most focused in the literature to build the collaboration between the agents which is of great use in the GPS denied environments. One of the collaborative tasks of UAV is to approach the AGV and hover over it at certain altitude. A trajectory tracking technique in the image frame is developed for the task in the present work. UAV detects the static target/AGV in the image plane and plans 3- dimensional trajectory to reach and hover at a desired depth from it. Minimum acceleration trajectories are designed using position and apparent size of the target in the image plane. Sliding mode control theory is applied for designing the controllers for approach, depth motion of UAV and validated with the simulations. The proposed image plane-based trajectory tracking technique is further validated in the Gazebo simulation environment. Simulation results shows that the method is useful in GPS denied environments for the UAV to plan its collaborative navigation in the image frame for smoothly reaching a desired position from the target/AGV.
{"title":"3-D Trajectory Tracking in the Image Frame for Autonomous Navigation of UAV in UAV-AGV Multi-Agent System","authors":"Ashok Kumar Sivarathri, Amit Shukla, Ayush Gupta","doi":"10.1109/ICARA56516.2023.10125818","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125818","url":null,"abstract":"UAV-AGV multi-agent system is attracting the mobile robotics research community due to its applications in several engineering disciplines. It's a heterogeneous combination of UAV and AGV. Collaborative kinematics between both agents is necessity of the system for better utilization of independent capabilities. Vision-based method is most focused in the literature to build the collaboration between the agents which is of great use in the GPS denied environments. One of the collaborative tasks of UAV is to approach the AGV and hover over it at certain altitude. A trajectory tracking technique in the image frame is developed for the task in the present work. UAV detects the static target/AGV in the image plane and plans 3- dimensional trajectory to reach and hover at a desired depth from it. Minimum acceleration trajectories are designed using position and apparent size of the target in the image plane. Sliding mode control theory is applied for designing the controllers for approach, depth motion of UAV and validated with the simulations. The proposed image plane-based trajectory tracking technique is further validated in the Gazebo simulation environment. Simulation results shows that the method is useful in GPS denied environments for the UAV to plan its collaborative navigation in the image frame for smoothly reaching a desired position from the target/AGV.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125881365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125658
Abdulelah Bukhamseen, Mohammad Al-abdullah, Khaled Bin Gaufan, M. Mysorewala
In order to effectively manage logistics and the supply chain, warehouses must adapt to the rising demands of information integration, speed and precision. As a viable choice for the growth of warehouses in the future, the “smart warehouse” system, which is linked with emerging warehousing innovations, is progressively attracting the attention of technology and industry elites. In this study, we have designed an Autonomous Vehicle-based Storage and Retrieval (AVS/R) system that receive, store, retrieve, and ship items in a warehouse. The design is based on using an Autonomous Guided vehicle that navigate through the warehouse landmarks, to transport items between I/O Port and the Storage Unit. The system components communication is based on the Internet of Things publish/subscribe massaging protocol MQTT also ensuring remote monitoring and control of the process through data stored in cloud. Overall, the proposed solution provides a flexible, scalable, efficient, and integrated warehouse solution.
{"title":"A Warehouse Storage and Retrieval System Using IoT and Autonomous Vehicle","authors":"Abdulelah Bukhamseen, Mohammad Al-abdullah, Khaled Bin Gaufan, M. Mysorewala","doi":"10.1109/ICARA56516.2023.10125658","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125658","url":null,"abstract":"In order to effectively manage logistics and the supply chain, warehouses must adapt to the rising demands of information integration, speed and precision. As a viable choice for the growth of warehouses in the future, the “smart warehouse” system, which is linked with emerging warehousing innovations, is progressively attracting the attention of technology and industry elites. In this study, we have designed an Autonomous Vehicle-based Storage and Retrieval (AVS/R) system that receive, store, retrieve, and ship items in a warehouse. The design is based on using an Autonomous Guided vehicle that navigate through the warehouse landmarks, to transport items between I/O Port and the Storage Unit. The system components communication is based on the Internet of Things publish/subscribe massaging protocol MQTT also ensuring remote monitoring and control of the process through data stored in cloud. Overall, the proposed solution provides a flexible, scalable, efficient, and integrated warehouse solution.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132465728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125619
Danial Pour Arab, Matthias Spisser, C. Essert
Over the past two decades, an evolutionary effort has been established in the agricultural sector to develop efficient autonomous systems that can carry out common in-field operations including harvesting, mowing, and spraying. Increasing production while decreasing costs and environmental damages is one of the main objectives for these autonomous systems. Due to the nature of these tasks, complete coverage path planning techniques are crucial to determining the best path that covers the entire field while accounting for terrain characteristics, operational needs, and robot properties. In this study, we propose a novel complete coverage path planning approach to define the ideal path for a wheeled robot across an agricultural field. To identify all feasible solutions satisfying a set of predefined constraints, a method based on tree exploration is first proposed that examines row-skip patterns. Second, the most optimal solution is selected by a selection method. Maximizing the covered area while minimizing overlaps, non-working path length, number of turns containing reverse moves, and overall travel time are the objectives of the selection method. We showed on 6 real-world fields geometries that the row skip approach offered benefits in terms of reduction of the required headland size, and often helped decreasing the number of necessary reverse moves and the overlaps, while increasing the covered area.
{"title":"Introduction of A Row-Skip Pattern in Complete Coverage Path Planning for Agricultural Fields","authors":"Danial Pour Arab, Matthias Spisser, C. Essert","doi":"10.1109/ICARA56516.2023.10125619","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125619","url":null,"abstract":"Over the past two decades, an evolutionary effort has been established in the agricultural sector to develop efficient autonomous systems that can carry out common in-field operations including harvesting, mowing, and spraying. Increasing production while decreasing costs and environmental damages is one of the main objectives for these autonomous systems. Due to the nature of these tasks, complete coverage path planning techniques are crucial to determining the best path that covers the entire field while accounting for terrain characteristics, operational needs, and robot properties. In this study, we propose a novel complete coverage path planning approach to define the ideal path for a wheeled robot across an agricultural field. To identify all feasible solutions satisfying a set of predefined constraints, a method based on tree exploration is first proposed that examines row-skip patterns. Second, the most optimal solution is selected by a selection method. Maximizing the covered area while minimizing overlaps, non-working path length, number of turns containing reverse moves, and overall travel time are the objectives of the selection method. We showed on 6 real-world fields geometries that the row skip approach offered benefits in terms of reduction of the required headland size, and often helped decreasing the number of necessary reverse moves and the overlaps, while increasing the covered area.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"443 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133213217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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