Paper Info
Title
Development of Navigation System in Field Robot for Forest Management.
Abstract
This paper addresses the problem of using a mobile, autonomous robot to manage a forest whose trees are destined for eventual harvesting. This was accomplished by 1) computing a trajectory for the robot in advance of its entrance into the forest, and 2) developing a program and equipping the robot with the instruments needed to follow the trajectory. Computation of a trajectory in a forest is facilitated by treating the trees as vertices in a graph. Current, laser-based instruments make it possible to identify individual trees and compute distances between them. With this information, a forest can be represented as a weighted graph. This graph can then be modified systematically in a way that allows for computing a Hamiltonian circuit that passes between each pair of trees. Our robot "SOMA" built on an ATV platform, was able to follow a part of the trajectory computed for this small forest, thus demonstrating the feasibility of forest maintenance by an autonomous, labor-saving robot.
Year
DOI
Venue
2018
10.1109/SCIS-ISIS.2018.00180
Joint International Conference on Soft Computing and Intelligent Systems SCIS and International Symposium on Advanced Intelligent Systems ISIS
Keywords
Field
DocType
Field Robotics,Forest Industry,Navigation
Computer science,Navigation system,Human–computer interaction,Artificial intelligence,Robot,Forest management,Machine learning
Conference
ISSN
Citations 
PageRank 
2377-6870
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Ayumu Tominaga100.34
Eiji Hayashi245.36
Abbe Mowshowitz3563124.43