| Texto completo | |
| Autor(es): Mostrar menos - |
Bonacini, Leonardo
;
Natividade Peres, Handel Emanuel
;
Higuti, Vitor Akihiro
;
Medeiros, Vivian Suzano
;
Becker, Marcelo
;
Tronco, Mario Luiz
;
Homem, TPD
;
Bianchi, RAD
;
DaSilva, BMF
;
Curvelo, CDF
;
Pinto, MF
Número total de Autores: 11
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2022 LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS), 2022 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR), AND 2022 WORKSHOP ON ROBOTICS IN EDUCATION (WRE); v. N/A, p. 6-pg., 2022-01-01. |
| Resumo | |
Autonomous navigation is an important skill for robots that perform tasks in the agricultural field. The main sensors used for this application are GPS, camera, and LiDAR. Navigation methodologies for such robots either focus on global localization and path planning based on GPS information or local path planning employing a perception system, using cameras and LiDAR sensors to extract crop characteristics to suggest control actions. Since mobile platforms are limited in both energetic and computational power, this situation highlights the need for a highlevel system that chooses which navigation algorithm should be employed depending on the environment. Based on this information, this work presents a system for classifying agricultural scenarios based on LiDAR data. In this work, we separate four conditions concerning the position of the crop around the robot: `betweenRowCrop', `leftRowCrop', `rightRowCrop', and `noRowCrop'. We used two Hokuyo UTM30-LX LiDARs on an agricultural robot to collect extensive data on a sugarcane crop. With the data from the LiDAR, several statistical measures are obtained and, for each variable, outlier samples are removed using the IQR rule. After that, these variables are used as predictors in a Multinomial Logistic Regression to classify agricultural scenes. The final model presented an accuracy of approximately 99%. This indicates that this model could be a promising solution for classifying the agricultural scenery the robot encounters and then passing this information to the robot's navigation system to choose the appropriate navigation method. (AU) | |
| Processo FAPESP: | 21/05336-3 - Planejamento de trajetória e controle de robôs com pernas para navegação autônoma em ambientes não-estruturados |
| Beneficiário: | Vivian Suzano Medeiros |
| Modalidade de apoio: | Bolsas no Brasil - Pós-Doutorado |