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

Santos, Luís; Santos, Filipe Neves; Mendes, Jorge; Ferraz, Nuno; Lima, José; Morais, Raul; Costa, Pedro

http://hdl.handle.net/10198/15561

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Abstract(s)

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.

URI

http://hdl.handle.net/10198/15561

Citation

Santos, Luís; dos Santos, Filipe Neves; Mendes, Jorge; Ferraz, Nuno; Lima, José; Morais, Raul; Costa, Pedro (2018). Path planning for automatic recharging system for steep-slope vineyard robots. In ROBOT 2017: Third Iberian Robotics Conference. p. 261-272. ISBN 978-3-319-70832-4