Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming.
The ground and aerial robotics, is being putinto operation of agribusiness. Precision agriculture taskshave opened a dominant fi eld to integrate the developmentsof mobile robotics. Trajectory planning is an option for weedremoval systems from a 3D image processing system. Thissystem determines the...
- Autores:
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2019
- Institución:
- Universidad Católica de Pereira
- Repositorio:
- Repositorio Institucional - RIBUC
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.ucp.edu.co:10785/13372
- Acceso en línea:
- https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107
http://hdl.handle.net/10785/13372
- Palabra clave:
- Rights
- openAccess
- License
- Derechos de autor 2019 Entre Ciencia e Ingeniería
| id |
RepoRIBUC2_556dfeae0f1e92b2265f1ad4f69bc8dd |
|---|---|
| oai_identifier_str |
oai:repositorio.ucp.edu.co:10785/13372 |
| network_acronym_str |
RepoRIBUC2 |
| network_name_str |
Repositorio Institucional - RIBUC |
| repository_id_str |
|
| dc.title.eng.fl_str_mv |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| dc.title.spa.fl_str_mv |
Planificación de trayectorias por técnica de A* y suavizado por curvas de Bezier para la herramienta del sistema de remoción de maleza de un robot dedicado a labores de agricultura de precisión |
| dc.title.por.fl_str_mv |
Planejamento de trajetórias utilizando a técnica A* e suavizado por meio de curvas de Bezier para a ferramenta do sistema de remoção de ervas daninhas de um robô dedicado a tarefas de agricultura de precisão |
| title |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| spellingShingle |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| title_short |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| title_full |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| title_fullStr |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| title_full_unstemmed |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| title_sort |
Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. |
| description |
The ground and aerial robotics, is being putinto operation of agribusiness. Precision agriculture taskshave opened a dominant fi eld to integrate the developmentsof mobile robotics. Trajectory planning is an option for weedremoval systems from a 3D image processing system. Thissystem determines the location of the weed (not treated here)and plans the movement of the tool to eradicate it. This toolis called end eff ector and it is integrated into a positioning system XYZ. This one is found on a mobile platform calledCeres_AgroBot (Robot created for agricultural work), whomoves through the crop and performs inspection-removal. Thearticle treated here presents a solution to find the trajectorythat must follow the tool that removes the weeds from the crop,without colliding with the plants of interest. It is based on theimplementation of a search algorithm supported on the A*,technique for determining the path in 3D space with obstacles.As inputs are: the rest point of the tool (), the coordinate ofthe weed () and the coordinates of the objects. Sometimesthe trajectory found produces movements that cause suddendisplacements and strong actions in the actuators, so it is alsopresented, the way to integrate the smoothing of the trajectoryby the Bezier techniques, such that the curve is adjusted to adynamic continuous and appropriate to the elements that makeup the removal system |
| publishDate |
2019 |
| dc.date.issued.none.fl_str_mv |
2019-05-25 |
| dc.date.accessioned.none.fl_str_mv |
2023-08-29T03:48:48Z |
| dc.date.available.none.fl_str_mv |
2023-08-29T03:48:48Z |
| dc.type.spa.fl_str_mv |
Artículo de revista |
| dc.type.coar.fl_str_mv |
http://purl.org/coar/resource_type/c_2df8fbb1 |
| dc.type.coar.none.fl_str_mv |
http://purl.org/coar/resource_type/c_6501 |
| dc.type.coarversion.none.fl_str_mv |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| dc.type.driver.none.fl_str_mv |
info:eu-repo/semantics/article |
| dc.type.version.none.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
| format |
http://purl.org/coar/resource_type/c_6501 |
| status_str |
publishedVersion |
| dc.identifier.none.fl_str_mv |
https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107 10.31908/19098367.3814 |
| dc.identifier.uri.none.fl_str_mv |
http://hdl.handle.net/10785/13372 |
| url |
https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107 http://hdl.handle.net/10785/13372 |
| identifier_str_mv |
10.31908/19098367.3814 |
| dc.language.none.fl_str_mv |
spa |
| language |
spa |
| dc.relation.none.fl_str_mv |
https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107/107 https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107/1167 |
| dc.rights.spa.fl_str_mv |
Derechos de autor 2019 Entre Ciencia e Ingeniería https://creativecommons.org/licenses/by-nc/4.0/deed.es_ES |
| dc.rights.uri.spa.fl_str_mv |
https://creativecommons.org/licenses/by-nc/4.0/deed.es_ES |
| dc.rights.accessrights.spa.fl_str_mv |
info:eu-repo/semantics/openAccess |
| dc.rights.coar.spa.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| rights_invalid_str_mv |
Derechos de autor 2019 Entre Ciencia e Ingeniería https://creativecommons.org/licenses/by-nc/4.0/deed.es_ES http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.none.fl_str_mv |
application/pdf application/xml |
| dc.publisher.spa.fl_str_mv |
Universidad Católica de Pereira |
| dc.source.eng.fl_str_mv |
Entre ciencia e ingeniería; Vol 12 No 24 (2018); 43-51 |
| dc.source.spa.fl_str_mv |
Entre Ciencia e Ingeniería; Vol. 12 Núm. 24 (2018); 43-51 |
| dc.source.por.fl_str_mv |
Entre ciencia e ingeniería; v. 12 n. 24 (2018); 43-51 |
| dc.source.none.fl_str_mv |
2539-4169 1909-8367 |
| institution |
Universidad Católica de Pereira |
| repository.name.fl_str_mv |
Repositorio Institucional de la Universidad Católica de Pereira - RIBUC |
| repository.mail.fl_str_mv |
bdigital@metabiblioteca.com |
| _version_ |
1831929581476511744 |
| spelling |
2023-08-29T03:48:48Z2023-08-29T03:48:48Z2019-05-25https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/10710.31908/19098367.3814http://hdl.handle.net/10785/13372The ground and aerial robotics, is being putinto operation of agribusiness. Precision agriculture taskshave opened a dominant fi eld to integrate the developmentsof mobile robotics. Trajectory planning is an option for weedremoval systems from a 3D image processing system. Thissystem determines the location of the weed (not treated here)and plans the movement of the tool to eradicate it. This toolis called end eff ector and it is integrated into a positioning system XYZ. This one is found on a mobile platform calledCeres_AgroBot (Robot created for agricultural work), whomoves through the crop and performs inspection-removal. Thearticle treated here presents a solution to find the trajectorythat must follow the tool that removes the weeds from the crop,without colliding with the plants of interest. It is based on theimplementation of a search algorithm supported on the A*,technique for determining the path in 3D space with obstacles.As inputs are: the rest point of the tool (), the coordinate ofthe weed () and the coordinates of the objects. Sometimesthe trajectory found produces movements that cause suddendisplacements and strong actions in the actuators, so it is alsopresented, the way to integrate the smoothing of the trajectoryby the Bezier techniques, such that the curve is adjusted to adynamic continuous and appropriate to the elements that makeup the removal systemLas tareas de agricultura de precisión abrenun campo importante para integrar desarrollos de la robóticamóvil. La planifi cación de trayectorias es una opción para lossistemas de remoción de maleza. A partir de un sistema deprocesamiento de imagen en 3D, quien determina la ubicación de la maleza, se planea el movimiento de la herramientaencargada de erradicarla. Esta forma parte del sistemade posicionamiento XYZ, embarcado en una plataformamóvil llamada Ceres_AgroBot (Robot creado para laboresde agricultura), quien se desplaza por el cultivo y realiza lainspección-remoción. Este artículo presenta la solución paraencontrar la trayectoria que debe seguir la herramienta queremueve la maleza del cultivo, sin colisionar con las plantasde interés. Se soporta en la implementación de un algoritmode búsqueda basado en la técnica A* para la determinacióndel camino en el espacio 3D con obstáculos. En ocasiones, latrayectoria encontrada produce movimientos que causandesplazamientos y acciones bruscas en los actuadores, por loque se presenta también la manera de integrar el alisado de latrayectoria por la técnica de Bézier, tal que la curva se ajustea una dinámica apropiada de los elementos que conforman elsistema de remociónA robótica terrestre e aérea está sendo voltadapara o funcionamento dá agroindústria. Tarefas de agriculturade precisão tem aberto um campo dominante para integraros desenvolvimentos da robótica móvel. O planejamentode trajetórias é uma opção para os sistemas de remoção deervas daninhas. Partindo de um sistema de processamento deimagens em 3D, quem determina a locação das ervas daninhas(não tratado aqui), é planejado o movimento da ferramentaencarregada de remove-las (conhecido como efetuador final).Esta ferramenta é parte do sistema de posicionamento XYZ,embarcado numa plataforma móvel chamada de Ceres_AgroBot (Robô criado para tarefas de agricultura), quem sedesloca pelo cultivo e executa a inspeção – remoção. Este artigoapresenta a solução para encontrar a trajetória a seguir pelaferramenta que remove as ervas daninhas do cultivo, sem colidircom as plantas de interesse. É baseado na implementação de umalgoritmo de busca baseado na técnica A* para a determinaçãodo caminho no espaço 3D com obstáculos. Como entrada estáo ponto de repouso da ferramenta (), a coordenada da ervadaninha () e as coordenadas dos objetos. Ás vezes a trajetóriaencontrada produz movimentos que causam deslocamentosabruptos e ações fortes nos atuadores, pelo que se apresentatambém a maneira de integrar o suavizado da trajetória pelastécnicas de Bezier, de modo que a curva seja ajustada a umadinâmica continua e apropriada aos elementos que compõem osistema de remoçãoapplication/pdfapplication/xmlspaUniversidad Católica de Pereirahttps://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107/107https://revistas.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/107/1167Derechos de autor 2019 Entre Ciencia e Ingenieríahttps://creativecommons.org/licenses/by-nc/4.0/deed.es_EShttps://creativecommons.org/licenses/by-nc/4.0/deed.es_ESinfo:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Entre ciencia e ingeniería; Vol 12 No 24 (2018); 43-51Entre Ciencia e Ingeniería; Vol. 12 Núm. 24 (2018); 43-51Entre ciencia e ingeniería; v. 12 n. 24 (2018); 43-512539-41691909-8367Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming.Planificación de trayectorias por técnica de A* y suavizado por curvas de Bezier para la herramienta del sistema de remoción de maleza de un robot dedicado a labores de agricultura de precisiónPlanejamento de trajetórias utilizando a técnica A* e suavizado por meio de curvas de Bezier para a ferramenta do sistema de remoção de ervas daninhas de um robô dedicado a tarefas de agricultura de precisãoArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1http://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionSolaque, LeonardoVelasco, AlexandraRiveros, AdrianaPublication10785/13372oai:repositorio.ucp.edu.co:10785/133722025-01-27 18:58:29.303https://creativecommons.org/licenses/by-nc/4.0/deed.es_ESDerechos de autor 2019 Entre Ciencia e Ingenieríametadata.onlyhttps://repositorio.ucp.edu.coRepositorio Institucional de la Universidad Católica de Pereira - RIBUCbdigital@metabiblioteca.com |