We present an autonomous ground robotic platform for agriculture application. The design is specifically targeted for small/medium farms with orchards and in this paper we propose a new vehicle concept as well as the sensor suite and software architecture to accomplish the implementation of the navigation algorithm designed to autonomously operate within the rows of an orchard. In this context, we also show how to exploit the structure of the orchard to optimize the Hough Transform algorithm to detect tree rows. Simulations and experimental results are presented.
Autonomous Robotic Platform for Precision Orchard Management: Architecture and Software Perspective / Mengoli D.; Tazzari R.; Marconi L.. - ELETTRONICO. - (2020), pp. 9277555.303-9277555.308. (Intervento presentato al convegno 3rd IEEE International Workshop on Metrology for Agriculture and Forestry, MetroAgriFor 2020 tenutosi a University of Trento, ita nel 2020) [10.1109/MetroAgriFor50201.2020.9277555].
Autonomous Robotic Platform for Precision Orchard Management: Architecture and Software Perspective
Mengoli D.
Primo
;Tazzari R.Secondo
;Marconi L.Ultimo
2020
Abstract
We present an autonomous ground robotic platform for agriculture application. The design is specifically targeted for small/medium farms with orchards and in this paper we propose a new vehicle concept as well as the sensor suite and software architecture to accomplish the implementation of the navigation algorithm designed to autonomously operate within the rows of an orchard. In this context, we also show how to exploit the structure of the orchard to optimize the Hough Transform algorithm to detect tree rows. Simulations and experimental results are presented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
