NDLI: Intelligent Coverage Path Planning for Agricultural Robots and Autonomous Machines on Three-Dimensional Terrain

Content Provider	Springer Nature Link
Author	Hameed, I. A.
Copyright Year	2013
Abstract	Field operations should be done in a manner that minimizes time and travels over the field surface. Automated and intelligent path planning can help to find the best coverage path so that costs of various field operations can be minimized. The algorithms for generating an optimized field coverage pattern for a given 2D field has been investigated and reported. However, a great proportion of farms have rolling terrains, which have a considerable influence on the design of coverage paths. Coverage path planning in 3D space has a great potential to further optimize field operations and provide more precise navigation. Supplementary to that, energy consumption models were invoked taking into account terrain inclinations in order to provide the optimal driving direction for traversing the parallel field-work tracks and the optimal sequence for handling these tracks under the criterion of minimizing direct energy requirements. The reduced energy requirements and consequently the reduced emissions of atmospheric pollutants, e.g. CO$_{2}$ and NO, are of major concern due to their contribution to the greenhouse effect. Based on the results from two case study fields, it was shown that the reduction in the energy requirements when the driving angle is optimized by taking into account the 3D field terrain was 6.5 % as an average for all the examined scenarios compared to the case when the applied driving angle is optimized assuming even field terrain. Additional reduction is achieved when sequence of field tracks is optimized by taking into account inclinations for driving up and down steep hills.
Starting Page	965
Ending Page	983
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	74
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2013-05-04
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Route planning DEM Optimization Genetic algorithm Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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