scholarly journals Coverage Motion Planning Using Graph in Forest Environment in Field Robot

10.29007/fclg ◽  
2020 ◽  
Author(s):  
Ayumu Tominaga ◽  
Ryusuke Fujisawa ◽  
Eiji Hayashi
Keyword(s):  
Motion Planning ◽  
Autonomous Robot ◽  
Hard Work ◽  
Forest Trees ◽  
Forest Environment ◽  
Hamiltonian Circuit ◽  
Initial Graph ◽  
Mobile Autonomous Robot ◽  
Field Robot

This paper addresses the problem of using a mobile, autonomous robot to manage a forest whose trees are destined for eventual harvesting. We have been focussing a eliminate weeding operation because it is one of the hard work in the forestry works. This research proposing the computation of trajectory capable of traversing in the entire forest. The method is based on a graph whose vertices are trees located in the forest. Trees located in the forest will be treated as vertices in a graph. In the first, the initial graph is made with considering the safety of the robot. Next, editing the initial graph to be Eulerian, and finally, the Hamiltonian circuit is obtained which could be used for trajectory. By our proposed method, the trajectory of which feasible route for traversing of the entire forest would be obtained. In the experiment, we show the result of the method applying to actual artificial forest.

scholarly journals Robot Navigation in Forest Management

2018 ◽  
Vol 30 (2) ◽  
pp. 223-230 ◽  
Author(s):  
Abbe Mowshowitz ◽  
Ayumu Tominaga ◽  
Eiji Hayashi ◽  
◽  
Keyword(s):  
Robot Navigation ◽  
Travelling Salesman Problem ◽  
Weighted Graph ◽  
Autonomous Robot ◽  
Travelling Salesman ◽  
Hamiltonian Circuit ◽  
Institute Of Technology ◽  
Individual Trees ◽  
Mobile Autonomous Robot ◽  
Small Forest

This paper addresses the problem of using a mobile, autonomous robot to manage a forest whose trees are destined for eventual harvesting. “Manage” in this context means periodical weeding between all the trees in the forest. We have constructed a robotic system enabling an autonomous robot to move between the trees without damaging them and to cut the weeds as it traverses the forest. This was accomplished by 1) computing a trajectory for the robot in advance of its entrance into the forest, and 2) developing a program and equipping the robot with the instruments needed to follow the trajectory. Computation of a trajectory in a forest is facilitated by treating the trees as vertices in a graph. Current, laser-based instruments make it possible to identify individual trees and compute distances between them. With this information a forest can be represented as a weighted graph. This graph can then be modified systematically in a way that allows for computing a Hamiltonian circuit that passes between each pair of trees. This representation is an instance of the well known Travelling Salesman Problem. The theory was put into practice in an experimental forest located at the Kyushu Institute of Technology. Our robot “SOMA,” built on an ATV platform, was able to follow a part of the trajectory computed for this small forest, thus demonstrating the feasibility of forest maintenance by an autonomous, labor saving robot.

Telerobotic Control System to Enhance Rescue Operations for Arm-Equipped Tracked Vehicle HELIOS IX

2014 ◽  
Vol 26 (1) ◽  
pp. 17-33 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Koji Ueda ◽  
Hiroaki Ishida ◽  
Michele Guarnieri ◽  
...  
Keyword(s):  
Control System ◽  
Motion Planning ◽  
Autonomous Robot ◽  
Sensor System ◽  
Tracked Vehicle ◽  
Rescue Robot ◽  
Door Opening ◽  
Shared Autonomy ◽  
Teleoperation System ◽  
Autonomous Motion

This paper focuses on a telerobotic system in which an operator executes tasks by operating an arm-equipped tracked vehicle, HELIOS IX. It is necessary to develop an assisting sensor system, teleoperation system, and semi-autonomous robot motions to enhance teleoperationability, because HELIOS IX has many DOFs and unique mechanisms. To realize this development, the authors discuss the required specifications of the sensors, teleoperation system, and semi-autonomous motion planning. First, the sensor system for assistance and teleoperation system are described. Next, terrain-adaptive, tracked locomotion with no additional sensors is explained and verified through terrain traversing experiments. Then, the authors discuss the telerobotic system for the door opening task, a system based on Shared Autonomy, and demonstrate that HELIOS IX can successfully perform the door opening task. Finally, we describe what we have learned and the problems involved in the development of the telerobotic system of the HELIOS IX rescue robot.

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