Davy, J. orcid.org/0000-0001-9483-111X and Fox, C. (2023) Simultaneous Base and Arm Trajectories for Multi-target Mobile Agri-Robot. In: Towards Autonomous Robotic Systems. 24th Annual Conference, TAROS 2023, 13-15 Sep 2023, Cambridge, UK. Springer , pp. 214-226. ISBN 9783031433597
Abstract
Many agricultural robotics tasks require an end effector to hold stationary above individual plants in the field for short periods. Examples include precision harvesting, imaging and spraying. This effector may be mounted on a mobile base such as a large tractor or small robot, driving in the field. We consider how to optimise control of the base and the end actuator together, to minimise total time taken to visit the plants. Our approach is based on low level combination of simple motion primitives, with mid level target clustering, and higher level planning. For the high level, three strategies are compared and evaluated in simulation: baseline stop-and-spray, constant velocity, and variable velocity. The baseline strategy is common in existing systems, and is shown to be outperformed by the new methods. The application considered here is weed spraying, but the methods are applicable to many tasks.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG. This is an author produced version of a conference paper published in Towards Autonomous Robotic Systems. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 24 Oct 2023 08:46 |
Last Modified: | 08 Sep 2024 00:13 |
Status: | Published |
Publisher: | Springer |
Identification Number: | 10.1007/978-3-031-43360-3_18 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:204502 |