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INTELLIGENT AUTONOMOUS SYSTEMS LAB
DODICHA project for the development of a
multipurpose agricultural robot
IAS-LAB
The project is founded
by local government of
Regione Veneto with
the FEASR program for
the development of
Project introduction
2/15
the development of
rural areas and
agricultural
technologies.
The DODICH project’s aim is to develop a multipurpose robot capable
to perform simple tasks on a vineyard, like spraying chemicals.
IAS-LAB
Partners
3/15
The prototype robot platform created
by Giorgio Pantano
The prototype robot platform created
by UNIPD
IAS-LAB
hardware – sensors - softwares
Current robot setup
The prototype robot platform created
by Giorgio Pantano
4/15
IAS-LAB
• Autonomous navigation of a
wheeled robot in a generic
vineyard with a laser scanner
Objectives (1)
5/15
IAS-LAB
• Autonomous navigation of a
wheeled robot in a generic
vineyard with a laser scanner
• Automatic identification of
plants to enable or disable the
Objectives (2)
6/15
plants to enable or disable the
spraying implement
IAS-LAB
• Autonomous navigation of a
wheeled robot in a generic
vineyard with a laser scanner
• Automatic identification of
plants to enable or disable the
Objectives (3)
7/15
plants to enable or disable the
spraying implement
• Investigation of a wireless self-
charging system for an
electrical powered robot
IAS-LAB
• Autonomous navigation of a
wheeled robot in a generic
vineyard with a laserscanner
• Automatic identification of
plants to enable or disable the
Objectives (4)
8/15
plants to enable or disable the
spraying implement
• Investigation of a wireless self-
charging system for an
electrical powered robot
• Development of a GUI that
enable the user to define a
navigation path for the robot
over the vineyard’s GIS map
IAS-LAB
The wireless charging system overiew
Solar panels
9/15
IAS-LAB
Wireless charging overview
The power source can provide up
to 4kW of power, its output to the
field coil is an AC current with a
frequency of 100kHz.
The pick-up coil intercepts the
10/15
The pick-up coil intercepts the
generated magnetic field and the
generated current is rectified by a
rectifying circuit* which output is
connected to the robot’s battery
charger.
*Naik et al. (2013, September). Design of a contact- less battery charging system. In AFRICON, 2013 (pp. 1-6). IEEE.
IAS-LAB
Wireless charging overview
11/15
IAS-LAB
The robot setup
The robot is equipped with a
personalized fixed structure to support
the onboard laptop and to attach the
sensors.
12/15
sensors.
The sensors used are:
• The RGB camera of an ASUS Xtion to
detect the marker position
• An Hokuyo 2D laser-scanner to detect
the wall line
IAS-LAB
1. The marker pose is estimated with
the calibrated RGB camera
2. The wall line is extracted from the
laser-scanner data
3. We project the marker point on the
Sensor fusion for robot localization
13/15
3. We project the marker point on the
wall line, obtaining a 2D local map
and the localization of the robot in
respect to the marker
IAS-LAB
1. The marker pose is
estimated with the
calibrated RGB
Sensor fusion for robot localization
14/15
calibrated RGB
camera
2. The wall line is
extracted from the
laser-scanner data
3. We project the marker point on the wall line, obtaining a 2D
local map and the localization of the robot in respect to the
marker
IAS-LAB
We used the motion planning algorithm by Park et al.*.
The input to the algorithm are the distance and the different direction
angles between the robot’s center, the target position and the desired
orientation -> directly from the localization.
With its parameters it is easy to tune for a graceful curve:
The egocentric motion planner
15/15
With its parameters it is easy to tune for a graceful curve:
*Park et al. “A smooth control law for graceful motion of differential wheeled mobile robots in 2D environment”. Robotics and Automa-
tion (ICRA), 2011 IEEE International Conference on (pp. 4896-4902). IEEE.
IAS-LAB
The charging system’s efficiency depend on the load applied:
• When transferring 35W (what is needed by our robot) the absorbedpower is 80W -> 43% of efficiency
• When transferring 78W the absorbed power is 125 W -> 62% of efficiency
So there is a no-load absorbed power of 43W, which means that the
Efficiency of the wireless charging system
System overall performances
16/15
So there is a no-load absorbed power of 43W, which means that the efficiency of the coil system is in both cases 94%.
Remind that the power source is designed to provide 4kW. A tailored generator will be far more efficient.
With a misalignment of 2cm the efficiency loss is about 5%
IAS-LAB
Precision of the docking algorithm
System overall performances
From ten random initial poses (manually measured) we evaluated the
final alignment error by measuring the segments CA, PA and CP
17/15
IAS-LAB
Conclusions
The implemented parts of Dodich prototype:
• Autonomous navigation
• Autonomous spraying on/off
18/15
• Autonomous docking
• Wireless recharging to
renewable energy sources
• GIS graphical user interface
for path definition