Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards
A heterogeneous robotic system that can perform various tasks in the steep vineyards of the Mediterranean region was developed and tested as part of the HEKTOR—Heterogeneous Autonomous Robotic System in Viticulture and Mariculture—project. This article describes the design of hardware and an easy-to...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/2/217 |
| _version_ | 1797494500604510208 |
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| author | Ivan Hrabar Goran Vasiljević Zdenko Kovačić |
| author_facet | Ivan Hrabar Goran Vasiljević Zdenko Kovačić |
| author_sort | Ivan Hrabar |
| collection | DOAJ |
| description | A heterogeneous robotic system that can perform various tasks in the steep vineyards of the Mediterranean region was developed and tested as part of the HEKTOR—Heterogeneous Autonomous Robotic System in Viticulture and Mariculture—project. This article describes the design of hardware and an easy-to-use method for evaluating the energy consumption of the system, as well as, indirectly, its deployment readiness level. The heterogeneous robotic system itself consisted of a flying robot—a light autonomous aerial robot (LAAR)—and a ground robot—an all-terrain mobile manipulator (ATMM), composed of an all-terrain mobile robot (ATMR) platform and a seven-degree-of-freedom (DoF) torque-controlled robotic arm. A formal approach to describe the topology and parameters of selected vineyards is presented. It is shown how Google Earth data can be used to make an initial estimation of energy consumption for a selected vineyard. On this basis, estimates of energy consumption were made for the tasks of protective spraying and bud rubbing. The experiments were conducted in two different vineyards, one with a moderate slope and the other with a much steeper slope, to evaluate the proposed estimation method. |
| first_indexed | 2024-03-10T01:35:12Z |
| format | Article |
| id | doaj.art-0fd49b867afc47f7a519dd34d6e138b1 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T01:35:12Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-0fd49b867afc47f7a519dd34d6e138b12023-11-23T13:34:11ZengMDPI AGElectronics2079-92922022-01-0111221710.3390/electronics11020217Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep VineyardsIvan Hrabar0Goran Vasiljević1Zdenko Kovačić2Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, CroatiaFaculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, CroatiaFaculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, CroatiaA heterogeneous robotic system that can perform various tasks in the steep vineyards of the Mediterranean region was developed and tested as part of the HEKTOR—Heterogeneous Autonomous Robotic System in Viticulture and Mariculture—project. This article describes the design of hardware and an easy-to-use method for evaluating the energy consumption of the system, as well as, indirectly, its deployment readiness level. The heterogeneous robotic system itself consisted of a flying robot—a light autonomous aerial robot (LAAR)—and a ground robot—an all-terrain mobile manipulator (ATMM), composed of an all-terrain mobile robot (ATMR) platform and a seven-degree-of-freedom (DoF) torque-controlled robotic arm. A formal approach to describe the topology and parameters of selected vineyards is presented. It is shown how Google Earth data can be used to make an initial estimation of energy consumption for a selected vineyard. On this basis, estimates of energy consumption were made for the tasks of protective spraying and bud rubbing. The experiments were conducted in two different vineyards, one with a moderate slope and the other with a much steeper slope, to evaluate the proposed estimation method.https://www.mdpi.com/2079-9292/11/2/217vineyardsprotective sprayingbud rubbingsteep terrainheterogeneous robotic systemsautonomous mobile manipulators |
| spellingShingle | Ivan Hrabar Goran Vasiljević Zdenko Kovačić Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards Electronics vineyards protective spraying bud rubbing steep terrain heterogeneous robotic systems autonomous mobile manipulators |
| title | Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards |
| title_full | Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards |
| title_fullStr | Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards |
| title_full_unstemmed | Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards |
| title_short | Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards |
| title_sort | estimation of the energy consumption of an all terrain mobile manipulator for operations in steep vineyards |
| topic | vineyards protective spraying bud rubbing steep terrain heterogeneous robotic systems autonomous mobile manipulators |
| url | https://www.mdpi.com/2079-9292/11/2/217 |
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