Path planning for the autonomous collection of eggs on floors
| Autor: | Gerard van Willigenburg, Eldert J. van Henten, B.A. Vroegindeweij, Peter W.G. Groot Koerkamp |
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| Rok vydání: | 2014 |
| Předmět: |
Engineering
Operations research Poultry house Emissie & Mestverwaarding Soil Science Farm Technology Biomass Refinery and Process Dynamics Set (abstract data type) ATV Farm Technology Motion planning Simulation business.industry laying hens prelaying behavior Dynamic programming Control and Systems Engineering GTB Tuinbouw Technologie Path (graph theory) WIAS Probability distribution Robot Agrarische Bedrijfstechnologie layers Emissions & Manure Valorisation Spatial maps business Agronomy and Crop Science Food Science |
| Zdroj: | Biosystems Engineering 121 (2014) Biosystems Engineering, 121, 186-199 |
| ISSN: | 1537-5110 |
| DOI: | 10.1016/j.biosystemseng.2014.03.005 |
| Popis: | A problem in loose housing systems for laying hens is the laying of eggs on the floor; these eggs need manual collection. This job is heavy and time-consuming and automated collection is desired. For collection using a robot, a collection path is required. A novel path planning algorithm is introduced for non-uniform repetitive area coverage (NURAC) paths and evaluated based on information about floor egg distribution probability. Firstly, a spatial map was developed that describes the potential for floor eggs at each location in a poultry house. Next, paths for floor egg collection are planned with a dynamic programming approach that covers the house floor area and frequently revisits locations with a high potential on floor eggs. These paths are compared with the paths used for floor egg collection by a farmer and evaluated with help of a simulated set of floor eggs. With respect to the average time eggs are present on the floor, paths planned for a robot are compared to two collection rounds of a farmer. With respect to the structure of the path and the number of visits to locations with a high potential, the robot paths outperform the farmer. Although optimality of the path is not guaranteed, the presented results are promising for the use of a robot to collect floor eggs, and will result in a reduction of the demand for manual labour. Extending the floor egg model with feedback information could further improve the results. |
| Databáze: | OpenAIRE |
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