Coverage Motion Planning Using Graph in Forest Environment in Field Robot

5 pages•Published: May 14, 2020

Abstract

This paper addresses the problem of using a mobile, autonomous robot to manage a forest whose trees are destined for eventual harvesting. We have been focussing a eliminate weeding operation because it is one of the hard work in the forestry works. This research proposing the computation of trajectory capable of traversing in the entire forest. The method is based on a graph whose vertices are trees located in the forest. Trees located in the forest will be treated as vertices in a graph. In the first, the initial graph is made with considering the safety of the robot. Next, editing the initial graph to be Eulerian, and finally, the Hamiltonian circuit is obtained which could be used for trajectory. By our proposed method, the trajectory of which feasible route for traversing of the entire forest would be obtained. In the experiment, we show the result of the method applying to actual artificial forest.

Keyphrases: Field robot, Forest industry, graph, motion planning, vertices

In: Tich Thien Truong, Trung Nghia Tran, Quoc Khai Le and Thanh Nha Nguyen (editors). Proceedings of International Symposium on Applied Science 2019, vol 3, pages 182--186

Links:	https://easychair.org/publications/paper/cQgC
	https://doi.org/10.29007/fclg