Approach for Autonomous Robot Navigation in Greenhouse Environment for Integrated Pest Management
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F62156489%3A43210%2F20%3A43918112" target="_blank" >RIV/62156489:43210/20:43918112 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/PLANS46316.2020.9109895" target="_blank" >https://doi.org/10.1109/PLANS46316.2020.9109895</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PLANS46316.2020.9109895" target="_blank" >10.1109/PLANS46316.2020.9109895</a>
Alternative languages
Result language
angličtina
Original language name
Approach for Autonomous Robot Navigation in Greenhouse Environment for Integrated Pest Management
Original language description
The use of autonomous robots for certain tasks within agriculture applications can bring many advantages. The H2020-funded GreenPatrol project has developed an autonomous system for pest detection and treatment within commercial greenhouses. In this system the robot will navigate autonomously and regularly inspect crops using an array of cameras and algorithms to detect and treat pests at an early stage in order to improve yield, reduce pesticide use and improve worker conditions. A key enabler for this application is the localization and navigation function of the robot platform. In order to operate independently and autonomously, the robot must know in real-time its precise location and direction of pointing, it must be able to plan a route through the greenhouse from its current location to where it needs to go, it must be able to control its movements to reach its required destination, and it must be able to identify and avoid obstacles that may obstruct its route. In order to achieve these goals the robot sub-systems include an absolute localization function, to provide precise absolute position and heading in a global reference frame in real-time, a relative localization function, to provide more fidelity of the exact location and orientation of the robot with respect to its surroundings in the greenhouse, and a navigation function, to plan the route through the greenhouse and provide movement instructions to the robot platform. This paper describes the localization system of the GreenPatrol robot and presents results of testing for each of the functions. The tests include simulations as well as data collections and tests of the real-time system using the robot platform. The results show the high performance of the positioning capability and heading information for the individual systems.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
—
Continuities
O - Projekt operacniho programu
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE/ION Position, Location and Navigation Symposium (PLANS) 2020: Proceedings
ISBN
978-1-72810-244-3
ISSN
2153-3598
e-ISSN
—
Number of pages
9
Pages from-to
1286-1294
Publisher name
IEEE-Institute of Electrical Electronics Engineers
Place of publication
Piscataway
Event location
Portland
Event date
Apr 20, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000839298400152