TY - JOUR
T1 - Algebraic path tracking to aid the manual harvesting of olives using an automated service unit
AU - Auat Cheein, Fernando A.
AU - Scaglia, Gustavo
AU - Torres-Torriti, Miguel
AU - Guivant, José
AU - Prado, Álvaro Javier
AU - Arnò, Jaume
AU - Escolà, Alexandre
AU - Rosell-Polo, Joan R.
N1 - Funding Information:
The authors would like to thank to the Universidad Técnica Federico Santa María (Chile), to FONDECYT grant 1140575 (CONICYT), BASAL grant FB 0008 , to the Institute of Automatics, Universidad Nacional de San Juan (Argentina), to Prof. Dr. Ricardo Carelli for his support, and to the University of Lleida (Spain), for their support. Appendix A
Publisher Copyright:
© 2015 IAgrE.
PY - 2016/2
Y1 - 2016/2
N2 - Service units used in precision agriculture are able to improve processes such as harvesting, sowing, agrochemical application, and manure spreading. This two-part work presents, a path tracking controller based on an algebraic approach for an articulated service unit, suitable for embedded applications, and its implementation to a hierarchical navigation strategy to aid a manual harvesting process. The path tracking controller approach can be scaled to several trailers attached to the service unit. For harvesting, the service unit drives within an olive grove environment following the previously developed path and a trailer is used as a mobile hopper where olives, collected by human labour, are deposited. The service unit also registers and geo-references the amount of olives (mass) collected for the subsequent creation of yield maps. The developed navigation strategy improved the time associated with harvesting olives by approximately 42-45%. The mathematical formulation of the problem, some real time experimental results, the creation of a yield map and the statistical analysis that validated the method are included.
AB - Service units used in precision agriculture are able to improve processes such as harvesting, sowing, agrochemical application, and manure spreading. This two-part work presents, a path tracking controller based on an algebraic approach for an articulated service unit, suitable for embedded applications, and its implementation to a hierarchical navigation strategy to aid a manual harvesting process. The path tracking controller approach can be scaled to several trailers attached to the service unit. For harvesting, the service unit drives within an olive grove environment following the previously developed path and a trailer is used as a mobile hopper where olives, collected by human labour, are deposited. The service unit also registers and geo-references the amount of olives (mass) collected for the subsequent creation of yield maps. The developed navigation strategy improved the time associated with harvesting olives by approximately 42-45%. The mathematical formulation of the problem, some real time experimental results, the creation of a yield map and the statistical analysis that validated the method are included.
KW - Agricultural engineering
KW - Harvesting aid
KW - Robot control
KW - Robot programming
KW - Service robot
KW - Yield mapping
UR - http://www.scopus.com/inward/record.url?scp=84953792394&partnerID=8YFLogxK
U2 - 10.1016/j.biosystemseng.2015.12.006
DO - 10.1016/j.biosystemseng.2015.12.006
M3 - Article
AN - SCOPUS:84953792394
SN - 1537-5110
VL - 142
SP - 117
EP - 132
JO - Biosystems Engineering
JF - Biosystems Engineering
ER -