Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution
Although robotic systems have found their place in agriculture, there are still many challenges, especially in the area of localization in semi-structured environments. A robotic system has been developed and tested to perform various tasks in the steep vineyards of the Mediterranean region. In this...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
|
| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/4/414 |
| _version_ | 1797604629510356992 |
|---|---|
| author | Ivan Hrabar Zdenko Kovačić |
| author_facet | Ivan Hrabar Zdenko Kovačić |
| author_sort | Ivan Hrabar |
| collection | DOAJ |
| description | Although robotic systems have found their place in agriculture, there are still many challenges, especially in the area of localization in semi-structured environments. A robotic system has been developed and tested to perform various tasks in the steep vineyards of the Mediterranean region. In this paper, we describe a method for vine trunk localization, based solely on the visual recognition of vine trunks by neural networks fed by an RGB camera. Assuming that the height of the first wire in the vineyard is known, the proposed method is used to determine the location of vines in the immediate vicinity of the all-terrain mobile manipulator—ATMM-VIV—needed for spraying and bud suckering. The experiment was conducted in a slightly inclined vineyard to evaluate the proposed localization method. |
| first_indexed | 2024-03-11T04:49:27Z |
| format | Article |
| id | doaj.art-d04096d361c54afe82d41d063bf419d1 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T04:49:27Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-d04096d361c54afe82d41d063bf419d12023-11-17T20:08:15ZengMDPI AGMachines2075-17022023-03-0111441410.3390/machines11040414Localization of Mobile Manipulator in Vineyards for Autonomous Task ExecutionIvan Hrabar0Zdenko Kovačić1Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, CroatiaLaboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, CroatiaAlthough robotic systems have found their place in agriculture, there are still many challenges, especially in the area of localization in semi-structured environments. A robotic system has been developed and tested to perform various tasks in the steep vineyards of the Mediterranean region. In this paper, we describe a method for vine trunk localization, based solely on the visual recognition of vine trunks by neural networks fed by an RGB camera. Assuming that the height of the first wire in the vineyard is known, the proposed method is used to determine the location of vines in the immediate vicinity of the all-terrain mobile manipulator—ATMM-VIV—needed for spraying and bud suckering. The experiment was conducted in a slightly inclined vineyard to evaluate the proposed localization method.https://www.mdpi.com/2075-1702/11/4/414autonomous mobile manipulatorvineyardsviticultureprotective sprayingsuckeringlocalization |
| spellingShingle | Ivan Hrabar Zdenko Kovačić Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution Machines autonomous mobile manipulator vineyards viticulture protective spraying suckering localization |
| title | Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution |
| title_full | Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution |
| title_fullStr | Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution |
| title_full_unstemmed | Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution |
| title_short | Localization of Mobile Manipulator in Vineyards for Autonomous Task Execution |
| title_sort | localization of mobile manipulator in vineyards for autonomous task execution |
| topic | autonomous mobile manipulator vineyards viticulture protective spraying suckering localization |
| url | https://www.mdpi.com/2075-1702/11/4/414 |
| work_keys_str_mv | AT ivanhrabar localizationofmobilemanipulatorinvineyardsforautonomoustaskexecution AT zdenkokovacic localizationofmobilemanipulatorinvineyardsforautonomoustaskexecution |