Optimization methodology to fruit grove mapping in precision agriculture

Autores
Gimenez Romero, Javier Alejandro; Herrera, Daniel; Tosetti Sanz, Santiago Ramon; Carelli Albarracin, Ricardo Oscar
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The mapping of partially structured agricultural environments is a valuable resource for precision agriculture. In this paper, a technique for the mapping of a fruit grove by a mobile robot is proposed, which uses only front laser information of the environment and the exact position of the grove corners. This method is based on solving an optimization problem with nonlinear constraints, which reduces errors inherent to the measurement process, ensuring an ecient and precise map construction. The resulting algorithm was tested in a real orchard environment. For this, it is also developed a data ltering method capable to comply eciently the observation-feature matching. The maximum average error obtained by the methodology in simulations was about 13cm, and in real experimentation was about 36cm.
Fil: Gimenez Romero, Javier Alejandro. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Herrera, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Tosetti Sanz, Santiago Ramon. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Mapping
Agricultural Enviroments
Optimization
Data Filtering
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/6644
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Optimization methodology to fruit grove mapping in precision agricultureGimenez Romero, Javier AlejandroHerrera, DanielTosetti Sanz, Santiago RamonCarelli Albarracin, Ricardo OscarMappingAgricultural EnviromentsOptimizationData Filteringhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The mapping of partially structured agricultural environments is a valuable resource for precision agriculture. In this paper, a technique for the mapping of a fruit grove by a mobile robot is proposed, which uses only front laser information of the environment and the exact position of the grove corners. This method is based on solving an optimization problem with nonlinear constraints, which reduces errors inherent to the measurement process, ensuring an ecient and precise map construction. The resulting algorithm was tested in a real orchard environment. For this, it is also developed a data ltering method capable to comply eciently the observation-feature matching. The maximum average error obtained by the methodology in simulations was about 13cm, and in real experimentation was about 36cm.Fil: Gimenez Romero, Javier Alejandro. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Herrera, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Tosetti Sanz, Santiago Ramon. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaElsevier2015-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/6644Gimenez Romero, Javier Alejandro; Herrera, Daniel; Tosetti Sanz, Santiago Ramon; Carelli Albarracin, Ricardo Oscar; Optimization methodology to fruit grove mapping in precision agriculture; Elsevier; Computers And Eletronics In Agriculture; 116; 6-2015; 88-1000168-1699enginfo:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0168169915001702info:eu-repo/semantics/altIdentifier/doi/10.1016/j.compag.2015.06.013info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-nd/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:01:42Zoai:ri.conicet.gov.ar:11336/6644instacron: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 11:01:43.094CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Optimization methodology to fruit grove mapping in precision agriculture
title Optimization methodology to fruit grove mapping in precision agriculture
spellingShingle Optimization methodology to fruit grove mapping in precision agriculture
Gimenez Romero, Javier Alejandro
Mapping
Agricultural Enviroments
Optimization
Data Filtering
title_short Optimization methodology to fruit grove mapping in precision agriculture
title_full Optimization methodology to fruit grove mapping in precision agriculture
title_fullStr Optimization methodology to fruit grove mapping in precision agriculture
title_full_unstemmed Optimization methodology to fruit grove mapping in precision agriculture
title_sort Optimization methodology to fruit grove mapping in precision agriculture
dc.creator.none.fl_str_mv Gimenez Romero, Javier Alejandro
Herrera, Daniel
Tosetti Sanz, Santiago Ramon
Carelli Albarracin, Ricardo Oscar
author Gimenez Romero, Javier Alejandro
author_facet Gimenez Romero, Javier Alejandro
Herrera, Daniel
Tosetti Sanz, Santiago Ramon
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Herrera, Daniel
Tosetti Sanz, Santiago Ramon
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv Mapping
Agricultural Enviroments
Optimization
Data Filtering
topic Mapping
Agricultural Enviroments
Optimization
Data Filtering
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The mapping of partially structured agricultural environments is a valuable resource for precision agriculture. In this paper, a technique for the mapping of a fruit grove by a mobile robot is proposed, which uses only front laser information of the environment and the exact position of the grove corners. This method is based on solving an optimization problem with nonlinear constraints, which reduces errors inherent to the measurement process, ensuring an ecient and precise map construction. The resulting algorithm was tested in a real orchard environment. For this, it is also developed a data ltering method capable to comply eciently the observation-feature matching. The maximum average error obtained by the methodology in simulations was about 13cm, and in real experimentation was about 36cm.
Fil: Gimenez Romero, Javier Alejandro. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Herrera, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Tosetti Sanz, Santiago Ramon. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description The mapping of partially structured agricultural environments is a valuable resource for precision agriculture. In this paper, a technique for the mapping of a fruit grove by a mobile robot is proposed, which uses only front laser information of the environment and the exact position of the grove corners. This method is based on solving an optimization problem with nonlinear constraints, which reduces errors inherent to the measurement process, ensuring an ecient and precise map construction. The resulting algorithm was tested in a real orchard environment. For this, it is also developed a data ltering method capable to comply eciently the observation-feature matching. The maximum average error obtained by the methodology in simulations was about 13cm, and in real experimentation was about 36cm.
publishDate 2015
dc.date.none.fl_str_mv 2015-06
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/11336/6644
Gimenez Romero, Javier Alejandro; Herrera, Daniel; Tosetti Sanz, Santiago Ramon; Carelli Albarracin, Ricardo Oscar; Optimization methodology to fruit grove mapping in precision agriculture; Elsevier; Computers And Eletronics In Agriculture; 116; 6-2015; 88-100
0168-1699
url http://hdl.handle.net/11336/6644
identifier_str_mv Gimenez Romero, Javier Alejandro; Herrera, Daniel; Tosetti Sanz, Santiago Ramon; Carelli Albarracin, Ricardo Oscar; Optimization methodology to fruit grove mapping in precision agriculture; Elsevier; Computers And Eletronics In Agriculture; 116; 6-2015; 88-100
0168-1699
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0168169915001702
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.compag.2015.06.013
info:eu-repo/semantics/altIdentifier/doi/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
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
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score 12.982451

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