Path planning for automatic recharging system for steep-slope vineyard robots

• Type: Chapter or Part of a Book
• Date: 2018

Authors

Luís Santos (Author) Other; Filipe Neves dos Santos (Author) FEUP; Jorge Mendes (Author) Other; Nuno Ferraz (Author) Other; José Lima (Author) Other; Raul Morais (Author) Other; Pedro Costa (Author) Other

Book

Title: Advances in Intelligent Systems and Computing

Pages: 261-272

ISBN: 978-3-319-70832-4

Electronic ISBN: 978-3-319-70833-1

Indexing

Scopus - 12 Citations

Other information

Authenticus ID: P-00N-825

DOI: 10.1007/978-3-319-70833-1_22

Abstract (EN): Develop cost-effective ground robots for crop monitoring in steep slope vineyards is a complex challenge. The terrain presents harsh conditions for mobile robots and most of the time there is no one available to give support to the robots. So, a fully autonomous steep-slope robot requires a robust automatic recharging system. This work proposes a multilevel system that monitors a vineyard robot autonomy, to plan off-line the trajectory to the nearest recharging point and dock the robot on that recharging point considering visual tags. The proposed system called VineRecharge was developed to be deployed into a cost-effective robot with low computational power. Besides, this paper benchmarks several visual tags and detectors and integrates the best one into the VineRecharge system. © Springer International Publishing AG 2018.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12