Development of Autonomous Robotic Platform for Orchard and Vineyard Operations

Satyam Raikwar (Autor)

Buch | Softcover

XXVII, 182 Seiten

2023 | 1st ed. 2024
Springer International Publishing (Verlag)
978-3-031-46790-5 (ISBN)

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This book contributes to the navigation algorithm development for an autonomous mobile orchard robot in a GNSS denied environment. In this book, an approach is provided for path planning in an orchard using an aerial view of the environment by creating Binary Occupancy Grid Maps. The path planning is further implemented by the Probabilistic Road Maps Method (PRM) over the developed Binary Occupancy Grid Maps. For robot's navigation, a navigation model is developed using kinematic equations of the robot. Further, the navigation module is used in conjunction with the path-planning module. The robot was tested successfully both in simulation as well as in the real environment.

lt;b>Satyam Raikwar studied Mechanical Engineering and Farm Machinery and Power at the Chair of Agricultural Systems and Technology, Dresden University of Technology. He is with the institute as a Scientific Researcher since 2017. His research area includes: Autonomous navigation of mobile agricultural robots, Precision Agriculture, Modeling, Simulation and control algorithm development of tractor systems.

State of the Art.- Mapping and Path Planning.- Robot Navigation and Model Development.- Sensor Selection for Robotic Platform.- Conclusions and Future Work.

Erscheinungsdatum	17.09.2023
Reihe/Serie	Fortschritte Naturstofftechnik
Zusatzinfo	XXVII, 182 p.
Verlagsort	Cham
Sprache	englisch
Maße	168 x 240 mm
Gewicht	367 g
Themenwelt	Technik ► Maschinenbau
Schlagworte	Agricultural Robot • autonomous navigation • GNSS-Denied Navigation • model-based design • Orchard Path Planning • Probabilistic Roadmaps (PRM) • Sensors for Orchard Robot
ISBN-10	3-031-46790-6 / 3031467906
ISBN-13	978-3-031-46790-5 / 9783031467905
Zustand	Neuware