A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot

Autores
Ait, Ismael; Kofman, Ernesto Javier; Pire, Taihú Aguará Nahuel
Año de publicación
2023
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In recent years, interest in the use of mobile robots in the agricultural industry has increased, both to address labor shortages in rural areas and to increase food production in a more sustainable way. In order to have an efficient navigation system to cover long crop row fields, a path planner algorithm must consider maneuvering restrictions of the targeted robot. Most state-of-the-art works in agricultural navigation systems are intended for robots with a high degree of maneuverability that can typically make in-place turnings. This work aims to fill the gap in terms of the development of an efficient navigation system for car-like robots with limited turning radius in crop row fields. For this, we combine the global path planner A* and the local trajectory planner Timed Elastic Band (TEB). Additionally, we state the problem of finding an optimal path that covers the entire field as a Travelling Salesman Problem (TSP) that is based on the different turning maneuvers the robot can perform at field headlands. The solution of the TSP results in a time efficient coverage strategy that aligns with the robot´s kinematics. Experiments performed in the Gazebo simulation environment show a reduction in field completion times of up to 20%, compared to trivial coverage paths. On the other hand, deviation of the robot with respect to the center of the field furrows was in all cases less than 10cm, which proves that the entire system operates with sufficient accuracy to avoid damaging the crops.
Fil: Ait, Ismael. Universidad Nacional de Rosario; Argentina
Fil: Kofman, Ernesto Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina
Fil: Pire, Taihú Aguará Nahuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina
Materia
AUTONOMOUS NAVIGATION
ROBOT SIMULATION
PRECISION AGRICULTURE
AGRICULTURAL ROBOTICS
TRAVELLING SALESMAN PROBLEM
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/231597
Acceder
id CONICETDig_1464791d8e7104c7e5ba5a2265f48c84
oai_identifier_str oai:ri.conicet.gov.ar:11336/231597
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like RobotAit, IsmaelKofman, Ernesto JavierPire, Taihú Aguará NahuelAUTONOMOUS NAVIGATIONROBOT SIMULATIONPRECISION AGRICULTUREAGRICULTURAL ROBOTICSTRAVELLING SALESMAN PROBLEMhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In recent years, interest in the use of mobile robots in the agricultural industry has increased, both to address labor shortages in rural areas and to increase food production in a more sustainable way. In order to have an efficient navigation system to cover long crop row fields, a path planner algorithm must consider maneuvering restrictions of the targeted robot. Most state-of-the-art works in agricultural navigation systems are intended for robots with a high degree of maneuverability that can typically make in-place turnings. This work aims to fill the gap in terms of the development of an efficient navigation system for car-like robots with limited turning radius in crop row fields. For this, we combine the global path planner A* and the local trajectory planner Timed Elastic Band (TEB). Additionally, we state the problem of finding an optimal path that covers the entire field as a Travelling Salesman Problem (TSP) that is based on the different turning maneuvers the robot can perform at field headlands. The solution of the TSP results in a time efficient coverage strategy that aligns with the robot´s kinematics. Experiments performed in the Gazebo simulation environment show a reduction in field completion times of up to 20%, compared to trivial coverage paths. On the other hand, deviation of the robot with respect to the center of the field furrows was in all cases less than 10cm, which proves that the entire system operates with sufficient accuracy to avoid damaging the crops.Fil: Ait, Ismael. Universidad Nacional de Rosario; ArgentinaFil: Kofman, Ernesto Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; ArgentinaFil: Pire, Taihú Aguará Nahuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; ArgentinaInstitute of Electrical and Electronics Engineers2023-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/231597Ait, Ismael; Kofman, Ernesto Javier; Pire, Taihú Aguará Nahuel; A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 21; 5; 4-2023; 643-6511548-0992CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/7751info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:29:27Zoai:ri.conicet.gov.ar:11336/231597instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-22 11:29:27.564CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
title A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
spellingShingle A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
Ait, Ismael
AUTONOMOUS NAVIGATION
ROBOT SIMULATION
PRECISION AGRICULTURE
AGRICULTURAL ROBOTICS
TRAVELLING SALESMAN PROBLEM
title_short A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
title_full A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
title_fullStr A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
title_full_unstemmed A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
title_sort A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot
dc.creator.none.fl_str_mv Ait, Ismael
Kofman, Ernesto Javier
Pire, Taihú Aguará Nahuel
author Ait, Ismael
author_facet Ait, Ismael
Kofman, Ernesto Javier
Pire, Taihú Aguará Nahuel
author_role author
author2 Kofman, Ernesto Javier
Pire, Taihú Aguará Nahuel
author2_role author
author
dc.subject.none.fl_str_mv AUTONOMOUS NAVIGATION
ROBOT SIMULATION
PRECISION AGRICULTURE
AGRICULTURAL ROBOTICS
TRAVELLING SALESMAN PROBLEM
topic AUTONOMOUS NAVIGATION
ROBOT SIMULATION
PRECISION AGRICULTURE
AGRICULTURAL ROBOTICS
TRAVELLING SALESMAN PROBLEM
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In recent years, interest in the use of mobile robots in the agricultural industry has increased, both to address labor shortages in rural areas and to increase food production in a more sustainable way. In order to have an efficient navigation system to cover long crop row fields, a path planner algorithm must consider maneuvering restrictions of the targeted robot. Most state-of-the-art works in agricultural navigation systems are intended for robots with a high degree of maneuverability that can typically make in-place turnings. This work aims to fill the gap in terms of the development of an efficient navigation system for car-like robots with limited turning radius in crop row fields. For this, we combine the global path planner A* and the local trajectory planner Timed Elastic Band (TEB). Additionally, we state the problem of finding an optimal path that covers the entire field as a Travelling Salesman Problem (TSP) that is based on the different turning maneuvers the robot can perform at field headlands. The solution of the TSP results in a time efficient coverage strategy that aligns with the robot´s kinematics. Experiments performed in the Gazebo simulation environment show a reduction in field completion times of up to 20%, compared to trivial coverage paths. On the other hand, deviation of the robot with respect to the center of the field furrows was in all cases less than 10cm, which proves that the entire system operates with sufficient accuracy to avoid damaging the crops.
Fil: Ait, Ismael. Universidad Nacional de Rosario; Argentina
Fil: Kofman, Ernesto Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina
Fil: Pire, Taihú Aguará Nahuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina
description In recent years, interest in the use of mobile robots in the agricultural industry has increased, both to address labor shortages in rural areas and to increase food production in a more sustainable way. In order to have an efficient navigation system to cover long crop row fields, a path planner algorithm must consider maneuvering restrictions of the targeted robot. Most state-of-the-art works in agricultural navigation systems are intended for robots with a high degree of maneuverability that can typically make in-place turnings. This work aims to fill the gap in terms of the development of an efficient navigation system for car-like robots with limited turning radius in crop row fields. For this, we combine the global path planner A* and the local trajectory planner Timed Elastic Band (TEB). Additionally, we state the problem of finding an optimal path that covers the entire field as a Travelling Salesman Problem (TSP) that is based on the different turning maneuvers the robot can perform at field headlands. The solution of the TSP results in a time efficient coverage strategy that aligns with the robot´s kinematics. Experiments performed in the Gazebo simulation environment show a reduction in field completion times of up to 20%, compared to trivial coverage paths. On the other hand, deviation of the robot with respect to the center of the field furrows was in all cases less than 10cm, which proves that the entire system operates with sufficient accuracy to avoid damaging the crops.
publishDate 2023
dc.date.none.fl_str_mv 2023-04
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/231597
Ait, Ismael; Kofman, Ernesto Javier; Pire, Taihú Aguará Nahuel; A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 21; 5; 4-2023; 643-651
1548-0992
CONICET Digital
CONICET
url http://hdl.handle.net/11336/231597
identifier_str_mv Ait, Ismael; Kofman, Ernesto Javier; Pire, Taihú Aguará Nahuel; A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 21; 5; 4-2023; 643-651
1548-0992
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/7751
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846781880372822016
score 12.982451

Publicaciones similares