Dynamic Sampling Algorithm for Agriculture-Monitoring Ground Robot

IF 2.6 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

International Journal of Simulation Modelling Pub Date : 2023-09-04 DOI:10.2507/ijsimm22-3-646

A. Yehoshua, A. Bechar, Y. Cohen, L. Shmuel, Y. Edan

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引用次数: 0

Abstract

We present the development and evaluation of a dynamic sampling algorithm for an agriculture-monitoring ground robot designed to locate insects in an agricultural field, where complete sampling of all plants is infeasible due to resource constraints. The algorithm utilizes real-time information to prioritise sampling at suspected points, locate hot spots and adapt sampling plans accordingly. A simulation environment was constructed to examine the algorithm's performance, and it was compared to two existing algorithms using Tetranychidae insect data from previous research. Sensitivity analyses reveals that the dynamic algorithm outperformed the others in all tested use cases, reaching 100 % detection approximately 3–5 days sooner when applied to small fields, and identifying 30 %–50 % more insects for larger fields. Its high detection percentages in small fields – 100 for a 1 ha field – decreased moderately with increasing field size to 80 % for a 10 ha field, seemingly irrespective of insect spread rate, which also barely affected insect detection. Doubling the time spent on each sample improved the results by 30–50 % on average in the first ten days, but in the following days the gap narrows. (

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农业监测地面机器人的动态采样算法

我们提出了一种用于农业监测地面机器人的动态采样算法的开发和评估，该机器人旨在定位农田中的昆虫，由于资源限制，对所有植物进行完全采样是不可行的。该算法利用实时信息对可疑点的采样进行优先级排序，定位热点并相应地调整采样计划。构建了一个模拟环境来检查该算法的性能，并使用先前研究的四趾虫科昆虫数据将其与现有的两种算法进行了比较。敏感性分析表明，在所有测试用例中，动态算法的性能都优于其他算法，当应用于小田地时，大约提前3-5天达到100%的检测，而在大田地中识别的昆虫则多30%-50%。它在小田地中的高检测率——1公顷田地为100——随着田地面积的增加而适度下降，10公顷田地为80%，似乎与昆虫传播率无关，这也几乎不影响昆虫检测。在最初的十天里，将每个样本的时间增加一倍，结果平均提高了30-50%，但在接下来的几天里，差距缩小了。(

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来源期刊

International Journal of Simulation Modelling ENGINEERING, INDUSTRIAL-ENGINEERING, MANUFACTURING

CiteScore

4.80

自引率

27.60%

发文量

审稿时长

>12 weeks

期刊介绍： The International Journal of Simulation Modelling (IJSIMM) provides a global forum for the publication of all forms of simulation modelling research work in academic institutions, in industry or in consultancy. The editors of the IJSIMM are searching primarily for original, high-quality, truly insightful, theoretical and application-oriented research papers dealing with simulation modelling, mainly within discrete-event simulation field in production engineering or industrial engineering.