An Autonomous Navigation Framework for Holonomic Mobile Robots in Confined Agricultural Environments

IF 2.9 Q2 ROBOTICS

Robotics Pub Date : 2023-10-28 DOI:10.3390/robotics12060146

Kosmas Tsiakas, Alexios Papadimitriou, Eleftheria Maria Pechlivani, Dimitrios Giakoumis, Nikolaos Frangakis, Antonios Gasteratos, Dimitrios Tzovaras

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引用次数: 2

Abstract

Due to the accelerated growth of the world’s population, food security and sustainable agricultural practices have become essential. The incorporation of Artificial Intelligence (AI)-enabled robotic systems in cultivation, especially in greenhouse environments, represents a promising solution, where the utilization of the confined infrastructure improves the efficacy and accuracy of numerous agricultural duties. In this paper, we present a comprehensive autonomous navigation architecture for holonomic mobile robots in greenhouses. Our approach utilizes the heating system rails to navigate through the crop rows using a single stereo camera for perception and a LiDAR sensor for accurate distance measurements. A finite state machine orchestrates the sequence of required actions, enabling fully automated task execution, while semantic segmentation provides essential cognition to the robot. Our approach has been evaluated in a real-world greenhouse using a custom-made robotic platform, showing its overall efficacy for automated inspection tasks in greenhouses.

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受限农业环境下完整移动机器人自主导航框架

由于世界人口的加速增长，粮食安全和可持续农业做法变得至关重要。在种植中，特别是在温室环境中，人工智能(AI)机器人系统的结合代表了一种有前途的解决方案，在这种解决方案中，有限基础设施的利用提高了许多农业职责的效率和准确性。在本文中，我们提出了一种完整的温室移动机器人自主导航体系结构。我们的方法是利用加热系统轨道来导航作物行，使用单个立体摄像机进行感知，使用激光雷达传感器进行精确的距离测量。有限状态机编排所需动作的顺序，实现完全自动化的任务执行，而语义分割为机器人提供基本的认知。我们的方法已经在现实世界的温室中使用定制的机器人平台进行了评估，显示了其在温室自动检测任务中的整体功效。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics Mathematics-Control and Optimization

CiteScore

6.70

自引率

8.10%

发文量

114

审稿时长

11 weeks

期刊介绍： Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM