Collision Avoidance Considering Iterative Bézier Based Approach for Steep Slope Terrains

Abstract

The Agri-Food production requirements needs a more efficient and autonomous processes, and robotics will play a significant role in this process. Deploying agricultural robots on the farm is still a challenging task. Particularly in slope terrains, where it is crucial to avoid obstacles and dangerous steep slope zones. Path planning solutions may fail under several circumstances, as the appearance of a new obstacle. This work proposes a novel open-source solution called AgRobPP-CA to autonomously perform obstacle avoidance during robot navigation. AgRobPP-CA works in real-time for local obstacle avoidance, allowing small deviations, avoiding unexpected obstacles or dangerous steep slope zones, which could impose a fall of the robot. Our results demonstrated that AgRobPP-CA is capable of avoiding obstacles and high slopes in different vineyard scenarios, with low computation requirements.

Research on Motion Planning Model and Control Strategy of Corn Inspection Robot

“…The development of agricultural robots is precisely dependent on the understanding of information about the farming environment, and with the increasing maturity of crop field information With the increasing maturity of crop field information collection technology, the research of agricultural robots has also stepped up to a new level [9], and fruit picking robots The robot has certain requirements for the detection accuracy of the external environment and fruit information, and selectively picks the target fruit surrounded by obstacles [10]. Selective picking of target fruits surrounded by obstacles is one of the main challenges for fruit harvesting robots.…”

Improving Up-Close Remote Sensing of Occluded Areas in Vineyards through Customized Multiple-Unmanned-Aerial-Vehicle Path Planning

“…In the context of aerial path planning for unmanned aerial vehicles (UAVs), optimization is critical due to limited autonomy and energy consumption constraints [6][7][8]. Unlike ground robots used in agricultural fields, UAVs can fly above obstacles and do not need to consider the topography [9,10], since they are not affected by those constrains. Furthermore, aerial path planning can be executed using one or multiple UAVs working cooperatively.…”

Visual Navigation and Obstacle Avoidance Control for Agricultural Robots via LiDAR and Camera

“…Santos et al proposed a real-time obstacle avoidance method for steep slope farmland based on local observation, which has been successfully tested in vineyards. The LiDAR combined with depth cameras will be considered in the future to improve the perception of the elevation map [12]. However, high sensor costs have impeded researchers.…”