Path planning aware of soil compaction for steep slope vineyards

The intensive use of agricultural machinery is promoting the soil compaction. The use of agricultural robots or autonomous machinery can intensify this problem, due its capacity to replicate the same trajectories. One of the possible strategies to minimize the effects of soil compaction is to contro...

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Bibliographic Details
Published in2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) pp. 250 - 255
Main Authors Santos, Lus, Ferraz, Nuno, Neves dos Santos, Filipe, Mendes, Jorge, Morais, Raul, Costa, Pedro, Reis, Ricardo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2018
Subjects
agricultural robotics
Compaction
Mobile robots
Path planning
Robot kinematics
Soil
soil compaction
vineyard
Wheels
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DOI10.1109/ICARSC.2018.8374191

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Summary:The intensive use of agricultural machinery is promoting the soil compaction. The use of agricultural robots or autonomous machinery can intensify this problem, due its capacity to replicate the same trajectories. One of the possible strategies to minimize the effects of soil compaction is to control agricultural traffic instead of common random traffic. Since geo-referencing systems are present in almost all field operations it is possible to optimize trajectories to avoid to damage the crop and intensify the soil compaction. The controlled agricultural traffic on farms will not only increase production capacity, the incomes as well as the quality of the soil. In this work a novel approach based on A-star algorithm is proposed to reduce soil compaction in steep slope vineyards.
DOI:10.1109/ICARSC.2018.8374191