Obstacle detection, localization, and avoidance for autonomous robotic seeding**

自主机器人播种的障碍物检测、定位和规避**

• 批准号: 533707-2018
• 负责人: JanabiSharifi, Farrokh
• 金额: $ 1.82万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=654501
• 关键词: Obstacle; detection; localization; avoidance; autonomous

Labor cost and availability are identified as the biggest challenges facing Canadian agriculture. The DOT Technology Corporation, as a part of the SeedMaster, is to create an autonomous power unit that acts as a primary locomotion system for carrying a multitude of farm implements used for seeding, fertilizing, and tilling. This simple autonomous power unit will enable farmers to employ a number of farm functions through a shared, smaller, and economical locomotion base, called DOT. While there is a huge body of literature on autonomous navigation of wheeled robots/vehicles in indoor/outdoor applications, the research in the realm of autonomous machines used in farms remains at its infancy. ****The plan of the company is to meet the challenges of delivering low cost, yet real-world robotic solutions for performing tasks in the agriculture industry. The company plans to create an autonomous power unit that acts as a primary locomotion system (namely DOT) for carrying a multitude of farm implements used for seeding, fertilizing, pruning and tilling. The objectives of this project are to enhance reliability of farm mobility system (DOT) by developing: (i) advanced obstacle detection, localization, and avoidance techniques using an RGB\D camera, instead of pre-sketched maps ignoring mobile obstacles and more importantly human beings; and (ii) accurate crop-row detection and tracking method to enable image-based localization and path planning of the robot to maximize operation efficiency (e.g., conducting farming tasks such as seeding evenly across the field). ****Development and integration of the proposed methods will expand the company's market and competitiveness. In addition to the benefits to the company, the proposed work will create training and job opportunities for the graduate students and postdoctoral fellows engaged in this project and/or its continuation.**

劳动力成本和可用性被认为是加拿大农业面临的最大挑战。作为 SeedMaster 的一部分，DOT 技术公司将创建一个自主动力装置，作为主要运动系统，用于携带用于播种、施肥和耕作的多种农具。这种简单的自主动力装置将使农民能够通过称为 DOT 的共享、小型且经济的移动基地来利用多种农场功能。 尽管有大量关于室内/室外应用中轮式机器人/车辆自主导航的文献，但农场使用的自主机器领域的研究仍处于起步阶段。 ****该公司的计划是应对挑战，提供低成本但真实的机器人解决方案来执行农业行业的任务。该公司计划创建一个自主动力装置，作为主要运动系统（即 DOT），用于携带用于播种、施肥、修剪和耕作的多种农具。 该项目的目标是通过开发以下内容来增强农场移动系统 (DOT) 的可靠性：(i) 使用 RGB\D 相机的先进障碍物检测、定位和规避技术，而不是忽略移动障碍物的预先绘制的地图，更重要的是人类； (ii) 准确的作物行检测和跟踪方法，使机器人能够进行基于图像的定位和路径规划，从而最大限度地提高作业效率（例如，执行农业任务，例如在田间均匀播种）。 ****所提出的方法的开发和集成将扩大公司的市场和竞争力。除了给公司带来好处外，拟议的工作还将为参与该项目和/或其延续项目的研究生和博士后创造培训和就业机会。 **