Sistema de planificación y supervisión de misiones para robots moviles terrestres agrícolas
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Date
2018
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Publisher
Universidad de Concepción
Abstract
Con el propósito de proveer una navegación óptima y segura para robots agrícolas, se implementó una serie de algoritmos en un software, que no solo permite planificar rutas óptimas y generar trayectorias suaves, sino que además proporciona una interface para el usuario. Para la generación de rutas óptimas se implementó el algoritmo denominado A*, mientras que para el suavizado de la trayectoria se implementó el algoritmo de Bézier. El software permite demarcar, a partir de una imagen aérea, las hileras del cultivo u otros obstáculos presentes. Permite, además una vez generada la ruta óptima, suavizarla y geo-referenciarla, generando una secuencia de coordenadas geográficas, por las cuales el robot deberá pasar. El software permite visualizar tanto la ruta a seguir como los parámetros de operación. Adicionalmente, el software permite la tele-operación del robot. El sistema es capaz de generar trayectorias suaves con una resolución de hasta un centímetro, en menos de un segundo, realizar el monitoreo y control remoto del robot con frecuencias de 2 Hz, lo que lo hace apto para robots en labores agrícolas.
A series of algorithms were implemented in a software in order to provide an optimal and safe navigation for agricultural robots. The system does not only allow planning optimal routes and generating smooth trajectories, but it also supplies a user’s interface. The algorithm called A * was implemented for the generation of optimal routes, while the algorithm called Bezier was implemented to smooth the trajectory. The software allows demarcating crop rows or other obstacles from an aerial image. Once the optimal route is generated, this can also be smoothed and geo-referenced to provide a sequence of geographic coordinates through which the robot must pass. In addition, the software allows visualization of the routes to be followed, parameter operation, and also robot tele-operation. The system is capable of generating smooth trajectories (with a resolution of up to one centimeter in less than a second), and perform the monitoring and remote control of the robot with frequencies of 2 Hz. Therefore, it is suitable for robots in agricultural tasks.
A series of algorithms were implemented in a software in order to provide an optimal and safe navigation for agricultural robots. The system does not only allow planning optimal routes and generating smooth trajectories, but it also supplies a user’s interface. The algorithm called A * was implemented for the generation of optimal routes, while the algorithm called Bezier was implemented to smooth the trajectory. The software allows demarcating crop rows or other obstacles from an aerial image. Once the optimal route is generated, this can also be smoothed and geo-referenced to provide a sequence of geographic coordinates through which the robot must pass. In addition, the software allows visualization of the routes to be followed, parameter operation, and also robot tele-operation. The system is capable of generating smooth trajectories (with a resolution of up to one centimeter in less than a second), and perform the monitoring and remote control of the robot with frequencies of 2 Hz. Therefore, it is suitable for robots in agricultural tasks.
Description
Tesis presentada para optar al título de Ingeniero Civil Agrícola
Keywords
Medio ambiente, Contaminación, Plaguicidas - Aplicación