Efficient Distribution of a Fleet of Heterogeneous Vehicles in Agriculture: A Practical Approach to Multi-path Planning

Conesa-Muñoz, Jesús; Bengochea-Guevara, José M.; Andújar, Dionisio; Ribeiro, Ángela

doi:10.1109/icarsc.2015.39

Cited by 20 publications

(13 citation statements)

References 11 publications

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“…The inspection plan to be followed by the platform is generated by a path planner [ 20 ], which can be formulized as the well-known capacitated vehicle routing problem, as stated in [ 21 ]. The fundamental problem consists of determining the best inspection route that provides complete coverage of the field considering features (such as the field shape, crop row direction, and type of crop) and certain characteristics of the platform (such as the turning radius or the number of on-board sensors).…”

Section: Methodsmentioning

confidence: 99%

A Low-Cost Approach to Automatically Obtain Accurate 3D Models of Woody Crops

Bengochea-Guevara

Andújar

Sanchez-Sardana

et al. 2017

Sensors

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Crop monitoring is an essential practice within the field of precision agriculture since it is based on observing, measuring and properly responding to inter- and intra-field variability. In particular, “on ground crop inspection” potentially allows early detection of certain crop problems or precision treatment to be carried out simultaneously with pest detection. “On ground monitoring” is also of great interest for woody crops. This paper explores the development of a low-cost crop monitoring system that can automatically create accurate 3D models (clouds of coloured points) of woody crop rows. The system consists of a mobile platform that allows the easy acquisition of information in the field at an average speed of 3 km/h. The platform, among others, integrates an RGB-D sensor that provides RGB information as well as an array with the distances to the objects closest to the sensor. The RGB-D information plus the geographical positions of relevant points, such as the starting and the ending points of the row, allow the generation of a 3D reconstruction of a woody crop row in which all the points of the cloud have a geographical location as well as the RGB colour values. The proposed approach for the automatic 3D reconstruction is not limited by the size of the sampled space and includes a method for the removal of the drift that appears in the reconstruction of large crop rows.

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Section: Methodsmentioning

confidence: 99%

A Low-Cost Approach to Automatically Obtain Accurate 3D Models of Woody Crops

Bengochea-Guevara

Andújar

Sanchez-Sardana

et al. 2017

Sensors

Self Cite

View full text Add to dashboard Cite

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“…The planner employed in this work is described in [ 44 ] and uses a simulated annealing algorithm to address a simplified case of the general path planning problem with only one vehicle and considering the travelled distance as the optimisation criterion. Figure 2 shows the route that is generated by the planner for the crop field in which the experiments were performed.…”

Section: Methodsmentioning

confidence: 99%

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

Bengochea-Guevara

Conesa-Muñoz

Andújar

et al. 2016

Sensors

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The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

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“…[129] Also used bacterial foraging (BFOA). Heterogeneous [130], [131], [132], [133] 2015, 2019, 2020, 2015 AI-based Sim [130] Kernel sequence enumeration (KSE) algorithm. [131] Modified ant colony optimization (MACO) and genetic algorithm (GA).…”

Section: 2018mentioning

confidence: 99%

A comprehensive review of the latest path planning developments for multi-robot formation systems

et al. 2023

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There has been a continuous interest in multi-robot formation systems in the last few years due to several significant advantages such as robustness, scalability, and efficiency. However, multi-robot formation systems suffer from well-known problems such as energy consumption, processing speed, and security. Therefore, developers are continuously researching for optimal solutions that can gather the benefits of multi-robot formation systems while overcoming the possible challenges. A backbone process required by any multi-robot system is path planning. Thus, path planning for multi-robot systems is a recent top research topic. However, the literature lacks a recent comprehensive review of path planning works designed for multi-robot systems. The aim of this review paper is to provide a comprehensive assessment and an insightful look into various path planning techniques developed in multi-robot formation systems, in addition to highlighting the basic problems involved in this field. This will allow the reader to discover the research gaps that must be solved for a better path planning experience for multi-robot formation systems. Finally, an illustrative comparative example is presented at the end of the paper to show the advantages and disadvantages of some popular path planning techniques.

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Efficient Distribution of a Fleet of Heterogeneous Vehicles in Agriculture: A Practical Approach to Multi-path Planning

Cited by 20 publications

References 11 publications

A Low-Cost Approach to Automatically Obtain Accurate 3D Models of Woody Crops

A Low-Cost Approach to Automatically Obtain Accurate 3D Models of Woody Crops

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

A comprehensive review of the latest path planning developments for multi-robot formation systems

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