Orchard manoeuvring strategy for a robotic bin-handling machine

Yunxiang Ye, Long He, Zhaodong Wang, Dylan Jones, Geoffrey A. Hollinger, Matthew E. Taylor, Qin Zhang

Research output: Contribution to journalArticle

Abstract

Unlike a car-like vehicle manoeuvring its way in an open field, a four-wheel-independent-steered robotic machine placed in an orchard must operate in a very confined working space between tree rows. Because the machine is subject to the unique constraints of the worksite space and operation limits, multiple steering modes are often required to effectively accomplish the desired bin-handling manoeuvers. In this study, we created a multi-mode manoeuvring strategy selection method to generate strategies that can guide the robotic platform to accomplish bin handling tasks, such as correcting pose error between tree rows, entering a tree lane from the headland, and loading a bin between tree rows, effectively. The method determines the manoeuvring strategies based on the situation among four steering modes: 1) Ackermann steering, 2) coordinated four wheel steering, 3) crab steering, and 4) spinning. The study first evaluated applicable strategies and selected the best of these strategies for different bin handling scenarios. Then, the selected strategies were implemented to drive a four-wheel-independent-steering (4WIS) system to complete the tasks in a commercial orchard in order to validate the method. Obtained results showed that the system could navigate the platform on desired trajectories to complete bin-handling tasks with a root mean square errors less than 0.06 m.

Original languageEnglish (US)
Pages (from-to)85-103
Number of pages19
JournalBiosystems Engineering
Volume169
DOIs
StatePublished - May 1 2018

Fingerprint

Orchards
bins (containers)
Robotics
Bins
robotics
orchard
orchards
wheels
Confined Spaces
Wheels
Four wheel steering
four-wheel drive
steering systems
Workplace
crab
automobile
selection methods
spinning
automobiles
Mean square error

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Food Science
  • Animal Science and Zoology
  • Agronomy and Crop Science
  • Soil Science

Cite this

Ye, Y., He, L., Wang, Z., Jones, D., Hollinger, G. A., Taylor, M. E., & Zhang, Q. (2018). Orchard manoeuvring strategy for a robotic bin-handling machine. Biosystems Engineering, 169, 85-103. https://doi.org/10.1016/j.biosystemseng.2017.12.005
Ye, Yunxiang ; He, Long ; Wang, Zhaodong ; Jones, Dylan ; Hollinger, Geoffrey A. ; Taylor, Matthew E. ; Zhang, Qin. / Orchard manoeuvring strategy for a robotic bin-handling machine. In: Biosystems Engineering. 2018 ; Vol. 169. pp. 85-103.
@article{c11f754dc64a407cb36802cb7defef96,
title = "Orchard manoeuvring strategy for a robotic bin-handling machine",
abstract = "Unlike a car-like vehicle manoeuvring its way in an open field, a four-wheel-independent-steered robotic machine placed in an orchard must operate in a very confined working space between tree rows. Because the machine is subject to the unique constraints of the worksite space and operation limits, multiple steering modes are often required to effectively accomplish the desired bin-handling manoeuvers. In this study, we created a multi-mode manoeuvring strategy selection method to generate strategies that can guide the robotic platform to accomplish bin handling tasks, such as correcting pose error between tree rows, entering a tree lane from the headland, and loading a bin between tree rows, effectively. The method determines the manoeuvring strategies based on the situation among four steering modes: 1) Ackermann steering, 2) coordinated four wheel steering, 3) crab steering, and 4) spinning. The study first evaluated applicable strategies and selected the best of these strategies for different bin handling scenarios. Then, the selected strategies were implemented to drive a four-wheel-independent-steering (4WIS) system to complete the tasks in a commercial orchard in order to validate the method. Obtained results showed that the system could navigate the platform on desired trajectories to complete bin-handling tasks with a root mean square errors less than 0.06 m.",
author = "Yunxiang Ye and Long He and Zhaodong Wang and Dylan Jones and Hollinger, {Geoffrey A.} and Taylor, {Matthew E.} and Qin Zhang",
year = "2018",
month = "5",
day = "1",
doi = "10.1016/j.biosystemseng.2017.12.005",
language = "English (US)",
volume = "169",
pages = "85--103",
journal = "Biosystems Engineering",
issn = "1537-5110",
publisher = "Academic Press Inc.",

}

Ye, Y, He, L, Wang, Z, Jones, D, Hollinger, GA, Taylor, ME & Zhang, Q 2018, 'Orchard manoeuvring strategy for a robotic bin-handling machine', Biosystems Engineering, vol. 169, pp. 85-103. https://doi.org/10.1016/j.biosystemseng.2017.12.005

Orchard manoeuvring strategy for a robotic bin-handling machine. / Ye, Yunxiang; He, Long; Wang, Zhaodong; Jones, Dylan; Hollinger, Geoffrey A.; Taylor, Matthew E.; Zhang, Qin.

In: Biosystems Engineering, Vol. 169, 01.05.2018, p. 85-103.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Orchard manoeuvring strategy for a robotic bin-handling machine

AU - Ye, Yunxiang

AU - He, Long

AU - Wang, Zhaodong

AU - Jones, Dylan

AU - Hollinger, Geoffrey A.

AU - Taylor, Matthew E.

AU - Zhang, Qin

PY - 2018/5/1

Y1 - 2018/5/1

N2 - Unlike a car-like vehicle manoeuvring its way in an open field, a four-wheel-independent-steered robotic machine placed in an orchard must operate in a very confined working space between tree rows. Because the machine is subject to the unique constraints of the worksite space and operation limits, multiple steering modes are often required to effectively accomplish the desired bin-handling manoeuvers. In this study, we created a multi-mode manoeuvring strategy selection method to generate strategies that can guide the robotic platform to accomplish bin handling tasks, such as correcting pose error between tree rows, entering a tree lane from the headland, and loading a bin between tree rows, effectively. The method determines the manoeuvring strategies based on the situation among four steering modes: 1) Ackermann steering, 2) coordinated four wheel steering, 3) crab steering, and 4) spinning. The study first evaluated applicable strategies and selected the best of these strategies for different bin handling scenarios. Then, the selected strategies were implemented to drive a four-wheel-independent-steering (4WIS) system to complete the tasks in a commercial orchard in order to validate the method. Obtained results showed that the system could navigate the platform on desired trajectories to complete bin-handling tasks with a root mean square errors less than 0.06 m.

AB - Unlike a car-like vehicle manoeuvring its way in an open field, a four-wheel-independent-steered robotic machine placed in an orchard must operate in a very confined working space between tree rows. Because the machine is subject to the unique constraints of the worksite space and operation limits, multiple steering modes are often required to effectively accomplish the desired bin-handling manoeuvers. In this study, we created a multi-mode manoeuvring strategy selection method to generate strategies that can guide the robotic platform to accomplish bin handling tasks, such as correcting pose error between tree rows, entering a tree lane from the headland, and loading a bin between tree rows, effectively. The method determines the manoeuvring strategies based on the situation among four steering modes: 1) Ackermann steering, 2) coordinated four wheel steering, 3) crab steering, and 4) spinning. The study first evaluated applicable strategies and selected the best of these strategies for different bin handling scenarios. Then, the selected strategies were implemented to drive a four-wheel-independent-steering (4WIS) system to complete the tasks in a commercial orchard in order to validate the method. Obtained results showed that the system could navigate the platform on desired trajectories to complete bin-handling tasks with a root mean square errors less than 0.06 m.

UR - http://www.scopus.com/inward/record.url?scp=85042352265&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85042352265&partnerID=8YFLogxK

U2 - 10.1016/j.biosystemseng.2017.12.005

DO - 10.1016/j.biosystemseng.2017.12.005

M3 - Article

VL - 169

SP - 85

EP - 103

JO - Biosystems Engineering

JF - Biosystems Engineering

SN - 1537-5110

ER -