Orchard operations are considered a promising area for the implementation of robotic systems because of the inherent structured operational environment that arises from time-independent spatial tree configurations. In this paper, a route planning approach is developed and tested using a deterministic behaviour robot (named AMS - autonomous mechanisation system). The core of the planning method is the generation of routing plans for intra- and inter-row orchard operations, based on the adaptation of an optimal area coverage method developed for arable farming operations (B-patterns). Experiments have verified that operational efficiencies can be improved significantly compared with the conventional, non-optimised method of executing orchard operations. Specifically, the experimental results showed that the non-working time reduction ranged between 10.7% and 32.4% and that the reduction in the non-working distance ranged between 17.5% and 40.2% resulting to savings in the total travelled distance ranged between 2.2% and 6.4%. © 2015 Elsevier B.V.

Route planning for orchard operations

BOCHTIS, DIONYSIS;BUSATO, Patrizia;BERRUTO, Remigio;
2015-01-01

Abstract

Orchard operations are considered a promising area for the implementation of robotic systems because of the inherent structured operational environment that arises from time-independent spatial tree configurations. In this paper, a route planning approach is developed and tested using a deterministic behaviour robot (named AMS - autonomous mechanisation system). The core of the planning method is the generation of routing plans for intra- and inter-row orchard operations, based on the adaptation of an optimal area coverage method developed for arable farming operations (B-patterns). Experiments have verified that operational efficiencies can be improved significantly compared with the conventional, non-optimised method of executing orchard operations. Specifically, the experimental results showed that the non-working time reduction ranged between 10.7% and 32.4% and that the reduction in the non-working distance ranged between 17.5% and 40.2% resulting to savings in the total travelled distance ranged between 2.2% and 6.4%. © 2015 Elsevier B.V.
2015
113
51
60
Autonomous vehicle; Mission planning; Operations management
D. Bochtis;H.W. Griepentrog;S. Vougioukas;P. Busato;R. Berruto;K. Zhou
File in questo prodotto:
File Dimensione Formato  
08.Route planning for orchard operations.pdf

Accesso riservato

Descrizione: pdf editoriale
Tipo di file: PDF EDITORIALE
Dimensione 3.75 MB
Formato Adobe PDF
3.75 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
08-1.Route planning for orchard operations_Author's post-print_4aperto.pdf

Open Access dal 01/05/2016

Descrizione: Author's final version
Tipo di file: POSTPRINT (VERSIONE FINALE DELL’AUTORE)
Dimensione 5.31 MB
Formato Adobe PDF
5.31 MB Adobe PDF Visualizza/Apri
Bochtis et al, 2015.pdf

Accesso riservato

Tipo di file: PDF EDITORIALE
Dimensione 3.75 MB
Formato Adobe PDF
3.75 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2318/158498
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 71
  • ???jsp.display-item.citation.isi??? 55
social impact