Route Planning for Multiple N-Trailers in Manual Harvesting Operations

Leonardo Guevara, Rui Paulo Rocha and Fernando Auat Cheein

In Proc. of 2020 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2020), Workshop on Perception, Planning and Mobility in Forestry Robotics (WPPMFR 2020), Las Vegas, NV, USA, Oct. 29, 2020.

Abstract

The introduction of automation technologies and intelligent, autonomous vehicles in agricultural operations al- lows for increased efficiency. In this context, this work proposes a short or medium-term alternative to complete automation of the manual harvesting process by introducing a team of robotic N-trailer vehicles to support the crop transportation task. Since the use of multiple vehicles working in the same workspace implies their coordination, this work proposes a high-level planning strategy that allows coordinating the routes of every vehicle. The proposed strategy includes a harvesting sequence generation and an initial route planning, both based on centralized global information, but also an online route planning based on decentralized local information exchanged between vehicles. Moreover, the proposal includes a vehicles departure scheduler which aims to maintain a harvesting operation without interruptions. In order to make the planning strategy robust against the variability on the harvesting rate and the uncertainties about the actual yield per track, the global information is updated online based on local information from the vehicles.

Index Terms — Route planning; multiple n-trailers; harvesting; agricultural robots.

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BibTeX

@INPROCEEDINGS(Guevara_et_al_20,

AUTHOR = "Martins, G. S. and Pais, F. J. and Rocha, R. P. and Menezes, P.",

TITLE = "Route Planning for Multiple N-Trailers in Manual Harvesting Operations",

BOOKTITLE = "Proc. of 2020 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2020), Workshop on Perception, Planning and Mobility in Forestry Robotics (WPPMFR 2020)",

ADDRESS = "Las Vegas, NV, USA",

YEAR = "2020",

MONTH = "Oct."

)

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Last update: 20/02/2021