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Title: Path planning for automatic recharging system for steep-slope vineyard robots
Authors: Luís Carlos Santos
Filipe Neves Santos
Issue Date: 2018
Abstract: Develop cost-effective ground robots for crop monitoring in steep slope vineyards is a complex challenge. The terrain presents harsh conditions for mobile robots and most of the time there is no one available to give support to the robots. So, a fully autonomous steep-slope robot requires a robust automatic recharging system. This work proposes a multilevel system that monitors a vineyard robot autonomy, to plan off-line the trajectory to the nearest recharging point and dock the robot on that recharging point considering visual tags. The proposed system called VineRecharge was developed to be deployed into a cost-effective robot with low computational power. Besides, this paper benchmarks several visual tags and detectors and integrates the best one into the VineRecharge system. © Springer International Publishing AG 2018.
metadata.dc.type: bookPart
Appears in Collections:CRIIS - Book Chapters

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