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Enabling Autonomous Navigation on the Farm: A Mission Planner for Agricultural Tasks

Author

Listed:
  • Ruth Cordova-Cardenas

    (Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain)

  • Luis Emmi

    (Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain)

  • Pablo Gonzalez-de-Santos

    (Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain)

Abstract

This study presents the development of a route planner, called Mission Planner, for an agricultural weeding robot that generates efficient and safe routes both in the field and on the farm using a graph-based approach. This planner optimizes the robot’s motion throughout the farm and performs weed management tasks tailored for high-power laser devices in narrow-row crops (wheat, barley, etc.) and wide-row crops (sugar beet, maize, etc.). Three main algorithms were integrated: Dijkstra’s algorithm to find the most optimal route on the farm, the VRMP (Visibility Road-Map Planner) method to select the route within cultivated fields when roads are not visible, and an improved version of the Hamiltonian path to find the best route between the crop lines. The results support the effectiveness of the strategies implemented, demonstrating that a robot can safely and efficiently navigate through the entire farm and perform an agricultural treatment, in this case study, in laser-based weed management. In addition, it was found that the route planner reduced the robot’s operation time, thus improving the overall efficiency of precision agriculture.

Suggested Citation

  • Ruth Cordova-Cardenas & Luis Emmi & Pablo Gonzalez-de-Santos, 2023. "Enabling Autonomous Navigation on the Farm: A Mission Planner for Agricultural Tasks," Agriculture, MDPI, vol. 13(12), pages 1-19, November.
    • Handle: RePEc:gam:jagris:v:13:y:2023:i:12:p:2181-:d:1285311
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    References listed on IDEAS

    as
    1. Luis Emmi & Roemi Fernández & Pablo Gonzalez-de-Santos & Matteo Francia & Matteo Golfarelli & Giuliano Vitali & Hendrik Sandmann & Michael Hustedt & Merve Wollweber, 2023. "Exploiting the Internet Resources for Autonomous Robots in Agriculture," Agriculture, MDPI, vol. 13(5), pages 1-22, May.
    2. López-Riquelme, J.A. & Pavón-Pulido, N. & Navarro-Hellín, H. & Soto-Valles, F. & Torres-Sánchez, R., 2017. "A software architecture based on FIWARE cloud for Precision Agriculture," Agricultural Water Management, Elsevier, vol. 183(C), pages 123-135.
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