Process-Optimized Planning for Cooperative Mobile Robots
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In the last decades the efficiency of agricultural machines has been steadily increased. Due to physical and legal reasons, only little potential for further improvement remains when regarding a single machine. However, those machines spend a considerable amount of time idling, e.g. when a harvester has to wait for a transport vehicle. Coordination of cooperative machines yields potential for efficiency enhancements regarding the overall process. To profit from it superordinate planning systems have to be developed that optimize the machines’ coordination regarding specific process goals.
In this thesis such a planning system for a cooperative harvesting scenario is described. The harvesting and transport process of grain has to be planned and executed. The scenario is referred to as infield transport logistics (Fig. 1) since the further street transport is not regarded.
KeywordsPlanning System Path Planning Process Execution Feasible Path Route Planning
This work was partly funded by the German Federal Ministry for Economic Affairs and Energy (BMWi) in the context of the project marion (Grant No. 01MA10027).
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