지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.6
- 수록면
- 634 - 642 (9page)
- DOI
- 10.5302/J.ICROS.2024.23.8003
이용수
초록· 키워드
오류제보하기
In this paper, we propose a prioritized path planning algorithm applicable to heterogeneous agricultural robot team. This team comprises of multiple agricultural robots based on unmanned ground vehicles. The proposed algorithm is based on the traditional multi-agent path finding algorithm and considers varying robot priorities. The scalability and completeness of the algorithm are validated via simulations. The proposed algorithm is evaluated in scenarios occurring during representative agricultural tasks such as harvesting and transportation. A cooperative multi-robot system is configured to respond to the unstructed agricultural environment. In the experiment, the change in travel distance and time is confirmed based on priority. Specifically, the results revealed that the paths followed by agent 1, which was assigned the highest priority in the face and crossover scenario and orchard environment, are shortened considerably (3.6, 5.6, and 19.1 m respectively). Especially in the face scenario, the sum of the changes in distance, calculated using the proposed algorithm is negative, indicating that traffic congestion within this multi-robot system is alleviated without the need for inter-robot communication.
목차
Abstract
I. 서론
II. 문제 정의
III. 제안된 우선순위 경로 계획 알고리즘
IV. 시뮬레이션 기반 알고리즘 검증
V. 현장평가 및 결과
VI. 결론
REFERENCES
참고문헌 (23)
참고문헌 신청
N. Alexandratos, “Contries with rapid population growth and resource constraint: issue of food, agriculture, and development,” Population and Development Review, vol. 31, no. 2, pp. 237-258, July. 2005. doi: https://doi.org/10.1111/j.1728-4457.2005.00064.x
S. Lim, M. Kim, D. Lee, and M. Won, “Vision-based farmland boundary detection algorithm for automation of an agricultural tractor,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 29, no. 3, pp. 208-216, March. 2023. doi: https://doi.org/10.5302/J.ICROS.2023.22.0226
S. Park. C. W. Jeon, and H. J. Kim, “Development of variable look-ahead distance tuning algorithm for autonomous tractor using a reinforcement learning approach,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 28, no. 11, pp. 964-972, Nov. 2022. doi: https://doi.org/10.3390/electronics7090162
C. Ju. and H. I, Son, “Multiple UAV systems for agricultural applications: control, implementation, and evaluation,” Electronics, vol. 7, no. 9, pp. 619, Aug. 2018. doi: https://doi.org/10.3390/electronics7090162
M. Kim, S. Lim, and M. Won, “Seedling area recognition algorithm for autonomous rice planter based on deep learning and image processing,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 29, no. 3, pp. 245-251, March. 2023. doi: https://doi.org/10.5302/J.ICROS.2023.22.0226
S. Lim, M. Kim, D. Lee, and M. Won, “Vision-based farmland boundary detection algorithm for automation of an agricultural tractor,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 29, no. 3, pp. 208-216, March. 2023. doi: https://doi.org/10.5302/J.ICROS.2023.22.0226
S. Park. C. W. Jeon, and H. J. Kim, “Development of variable look-ahead distance tuning algorithm for autonomous tractor using a reinforcement learning approach,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 28, no. 11, pp. 964-972, Nov. 2022. doi: https://doi.org/10.3390/electronics7090162
C. Ju. and H. I, Son, “Multiple UAV systems for agricultural applications: control, implementation, and evaluation,” Electronics, vol. 7, no. 9, pp. 619, Aug. 2018. doi: https://doi.org/10.3390/electronics7090162
M. Kim, S. Lim, and M. Won, “Seedling area recognition algorithm for autonomous rice planter based on deep learning and image processing,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 29, no. 3, pp. 245-251, March. 2023. doi: https://doi.org/10.5302/J.ICROS.2023.22.0226
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