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Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots

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ROBOT 2017: Third Iberian Robotics Conference (ROBOT 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 693))

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Abstract

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.

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Notes

  1. 1.

    agrob.inesctec.pt.

  2. 2.

    VispAutoTracker implementation: http://wiki.ros.org/visp_auto_tracker.

  3. 3.

    ArSys implementation: http://wiki.ros.org/ar_sys.

  4. 4.

    ArTrackAlvar implementation: http://wiki.ros.org/ar_track_alvar.

  5. 5.

    AprilTags original implementation: http://people.csail.mit.edu/kaess/apriltags.

  6. 6.

    AprilTags RIVeR-Lab implementation: http://wiki.ros.org/apriltags_ros.

  7. 7.

    AprilTags Xenobot implementation: https://github.com/xenobot-dev/apriltags_ros.

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Acknowledgment

This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project “POCI-01-0145-FEDER-006961”, and by National Funds through the FCT – Fundaçao para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.

Author information

Authors and Affiliations

  1. Faculty of Engineering, University of Porto, Porto, Portugal

    Luís Santos & Pedro Costa

  2. INESC TEC - INESC Technology and Science, Porto, Portugal

    Filipe Neves dos Santos, Jorge Mendes, Nuno Ferraz, José Lima & Raul Morais

  3. Polytechnic Institute of Bragança, Bragança, Portugal

    José Lima & Pedro Costa

  4. Universidade de Trás-os-Montes e Alto Douro, Vila Real, Portugal

    Raul Morais

Authors
  1. Luís Santos
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  2. Filipe Neves dos Santos
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  3. Jorge Mendes
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  4. Nuno Ferraz
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  5. José Lima
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  6. Raul Morais
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  7. Pedro Costa
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Corresponding author

Correspondence to Filipe Neves dos Santos .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Santos, L. et al. (2018). Path Planning for Automatic Recharging System for Steep-Slope Vineyard Robots. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_22

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  • DOI: https://doi.org/10.1007/978-3-319-70833-1_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70832-4

  • Online ISBN: 978-3-319-70833-1

  • eBook Packages: EngineeringEngineering (R0)

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