Metric Map Generation for Autonomous Field Operations

Autor: Kun Zhou, Allan Leck Jensen, Dionysis Bochtis, Michael Nørremark, Dimitrios Kateris, Claus Grøn Sørensen
Jazyk: angličtina
Rok vydání: 2020
Předmět:
Zdroj: Agronomy, Vol 10, Iss 1, p 83 (2020)
Druh dokumentu: article
ISSN: 2073-4395
DOI: 10.3390/agronomy10010083
Popis: Advanced systems for manned and/or agricultural vehicles—such as systems for auto-steering, navigation-adding, and autonomous route planning—require new capabilities in terms of the internal representation for the autonomous system of the working space; that is, the generation of a metric map that provides by numerical parameters any operation-related entity of the working space. In this paper, a real-time approach was developed for the generation of the field metric map, based on a row generation method (polygons-based geometry). The approach can deal with fields with or without in-field obstacles, where the generated field-work tracks can be either straight or curved. The functionality of the approach was demonstrated on 12 fields with different number of obstacles ranging from one to six. The test results showed that the computational times were in the range of 0.26−24.51 s. The presented tool brings a number of advancements on the process of generating a metric map for arable farming field operations, including the real-time generation feature, the potential to deal with multiple-obstacle areas, and the reduction in the overlapped area.
Databáze: Directory of Open Access Journals
Nepřihlášeným uživatelům se plný text nezobrazuje