A novel data fusion algorithm for low-cost localisation and navigation of autonomous vineyard sprayer robots

Zaidner, Guy; Shapiro, Amir

doi:10.1016/j.biosystemseng.2016.05.002

Cited by 52 publications

(42 citation statements)

References 6 publications

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“…VINBOT estimates the amount of leaves, grapes, and other data throughout the entire vineyard via computer vision and other sensors and generates online yield and vigor maps. Zaidner and Shapiro proposed a data fusion algorithm for fusing localization data from various robot sensors for navigating an autonomous system in the vineyard.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a semi‐autonomous agricultural vineyard sprayer: Human–robot interaction aspects

Adamides

Katsanos

Constantinou

et al. 2017

Journal of Field Robotics

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This article presents the design aspects and development processes to transform a general‐purpose mobile robotic platform into a semi‐autonomous agricultural robot sprayer focusing on user interfaces for teleoperation. The hardware and the software modules that must be installed onto the system are described, with particular emphasis on human–robot interaction. Details of the technology are given focusing on the user interface aspects. Two laboratory experiments and two studies in the field to evaluate the usability of the user interface provide evidence for the increased usability of a prototype robotic system. Specifically, the study aimed to empirically evaluate the type of target selection input device mouse and digital pen outperformed Wiimote in terms of usability. A field experiment evaluated the effect of three design factors: (a) type of screen output, (b) number of views, (c) type of robot control input device. Results showed that participants were significantly more effective but less efficient when they had multiple views, than when they had a single view. PC keyboard was also found to significantly outperform PS3 gamepad in terms of interaction efficiency and perceived usability. Heuristic evaluations of different user interfaces were also performed using research‐based HRI heuristics. Finally, a study on participants’ overall user experience found that the system was evaluated positively on the User Experience Questionnaire scales.

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Section: Introductionmentioning

confidence: 99%

Design and development of a semi‐autonomous agricultural vineyard sprayer: Human–robot interaction aspects

Adamides

Katsanos

Constantinou

et al. 2017

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…The electric motor is fixed to the platform and connected to the wheel using chain wheels. Using incremental encoders connected to each wheel, the wheel position and speed can be controlled using a developed kinematic model …”

Section: The Robotmentioning

confidence: 99%

Human‐robot collaborative site‐specific sprayer

Berenstein

Edan

2017

Journal of Field Robotics

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Spraying pesticides is a key element of agriculture worldwide, since 30% to 35% of crop losses can be prevented when harmful insects and diseases are eliminated by applying pesticides. Site‐specific spraying can help reduce pesticide application; however, target detection is limited due to the complex agricultural environment. This paper presents a human‐robot collaborative sprayer designed for site‐specific targeted spraying. The robotic sprayer platform, the framework, and tools for the robotic sprayer to collaborate with a remote human operator for the target detection and spraying tasks are detailed. An experiment to evaluate the elements of the collaborative human‐robot framework working in sync was designed, implemented, and evaluated. The collaborative spraying system shows a 50% reduction of sprayed material. The experiment also proves the feasibility of human‐robot collaboration for the complex task of spraying specific targets considering both the True Positive (TP) and False Positive (FP) rates.

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“…Namun UGV yang ada saat ini baik untuk lahan pertanian terbuka maupun greenhouse dirancang sebagai sistem non-holonomic dengan skid-steering dan car-like steering yang terbatas pada kemampuan bermanuvernya [9][10] [11]. Suatu sistem holonomic diharapkan dapat mengatasi masalah manuver ini dikarenakan kemampuan sistem holonomic yang dapat bergerak kesegala arah secara spontan tanpa merubah orientasi.…”

Section: Pendahuluanunclassified

Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Purbowaskito

2017

DINAREK

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Abstrak-Penggunaan UGV sebagai bagian dari otomasi disektor industri pertanian dilakukan secara intensif sebagai solusi dari masalah tenaga kerja dan produksi. Saat ini UGV yang dikembangkan pada sektor industri pertanian masih terbatas pada kemampuan bermanuvernya. UGV dengan kemampuan bermanuver yang tinggi dibutuhkan untuk melakukan beberapa pekertajaan pertanian dalam rangka untuk meningkatkan fisiensi produksi pertanian. Sehingga paper ini mengusulkan sebuah ide baru perancangan mekanik UGV untuk memperbaiki kemampuan bermanuver UGV. Paper ini menawarkan sebuah konsep perancangan mekanik untuk mendukung pergerakan omnidirectional sebagai kelebihan pergerakan UGV pada permukaan lahan pertanian. Suatu sistem steering independen dirancang pada UGV ini untuk mendukung mekanisme pergerakan omnidirectional. Sebelum proses pembuatan, konsep, rancangan, dan struktur UGV pertanian yang diusulkan dievaluasi menggunakan simulasi untuk memahami mengenai struktur rangka dan mekanisme geraknya. Pada penelitian ini, analisis struktur dan gerak dilakukan dengan menggunakan perangkat lunak computer aided design. Hasilnya menunjukan bahwa sistem steering yang dirancang dapat digunakan sebagai mekanisme kemudi untuk mendukung pergerakan omnidirectional. Kata kunci -Perancangan mekanik, unmanned ground vehicle, computer aided design, industri pertanian.Abstract-The usage of UGVs as part of automation in farm industry is done intensively as the solution of labor and production issues. The current developed UGVs for farm industry are still limited on its maneuverability. High maneuverability UGVs are required to do several agricultural jobs in order to enhance the agricultural production efficiency. So this paper proposes new idea of UGV mechanical design to improve the UGV menuverability. It offers a concept of mechanical design to support the omnidirectional motions as advantage of the UGV movement on the farm field surfaces. The independent steering system is designed in the proposed UGV to support the omnidirectional motion mechanism. Before the fabrication process the proposed concept, design, and structure of an agricultural UGV are evaluated in simulations to understand its frame structure and motion mechanism. In this study, the structural analysis and motion analysis are done by using computer aided design software. The results show that the proposed steering design can used as the steering mechanism to support omnidirectional motion.

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A novel data fusion algorithm for low-cost localisation and navigation of autonomous vineyard sprayer robots

Cited by 52 publications

References 6 publications

Design and development of a semi‐autonomous agricultural vineyard sprayer: Human–robot interaction aspects

Design and development of a semi‐autonomous agricultural vineyard sprayer: Human–robot interaction aspects

Human‐robot collaborative site‐specific sprayer

Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

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