| Title: | GS2-6 Development of Autonomous Robot for Laborsaving of the Forestry Detection of young plants by RGB and Depth Sensor |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 368-371 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.GS2-6 |
| Author(s): | Nobuo Miyakawa, Eiji Hayashi |
| Publication Date: | January 19, 2017 |
| Keywords: | Autonomous Self-Moving, Depth Sensor, Forest, Image processing |
| Abstract: | Traditional forest management and maintenance consumes excessive labor time. Particularly burdensome is the investigation and management of resource quantity (tree growth) in the forest and the elimination of weeds. Therefore, this paper proposes a prototype mechanism for an autonomous self-moving robot that promises to reduce the workload of forest management investigation. For the autonomous movement task, we installed some actuators and a three-dimensional (3D) depth sensor into an all-terrain vehicle. The trajectory path of the robot is determined from the obtained depth-sensor data via 3D conversions and a labeling process. The handle is then controlled by calculating the steering angle. In an experimental evaluation mimicking a real forest environment, the prototype achieved autonomous self-movement with successful passage through the trees. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS2/GS2-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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