Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment
Robotics in agriculture has experienced enormous development in the past decade. In order to accomplish numerous agricultural tasks, the order in which the crop is covered is particularly important in order to minimise travelling cost and to preserve soil conditions. However, it is difficult to dete...
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my.utm.879432020-11-30T13:37:30Z http://eprints.utm.my/id/eprint/87943/ Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment Mahmud, Mohd. Saiful Azimi Zaina lAbidin, Mohamad Shukri Mohamed, Zaharuddin Abd. Rahman, Muhammad Khairie Idham Iida, Michihisa TK Electrical engineering. Electronics Nuclear engineering Robotics in agriculture has experienced enormous development in the past decade. In order to accomplish numerous agricultural tasks, the order in which the crop is covered is particularly important in order to minimise travelling cost and to preserve soil conditions. However, it is difficult to determine an optimised sequential path for the robot which minimizes navigation costs, while ensuring a fully completed agricultural operation. This paper presents the implementation of a multi-objective algorithm to solve the path planning problem for pesticide spraying operation inside a greenhouse. Pesticide spraying problems found in greenhouses have been adapted from the vehicle routing problem found in operations research, where the infected plants represent the customers and the mobile robot represents the vehicles. Routes between the plants are generated using a Probabilistic Roadmap path planner based on the designed virtual environment. The virtual environment is designed based on the real greenhouse environment to visualise the agricultural operation inside the greenhouse. To determine the best routes for the mobile robot, the Non-dominated Sorting Genetic Algorithm using Reference Point Based (NSGA-III) is tested and applied to the system. The solution quality has been compared with the Non-dominated Sorting Genetic Algorithm (NSGA-II) using the C-metric indicator. Comparisons with NSGA-II using the C-metric indicator verify that NSGA-III offers a superior performance with a good quality result. Elsevier B.V. 2019-02 Article PeerReviewed Mahmud, Mohd. Saiful Azimi and Zaina lAbidin, Mohamad Shukri and Mohamed, Zaharuddin and Abd. Rahman, Muhammad Khairie Idham and Iida, Michihisa (2019) Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment. Computers and Electronics in Agriculture, 157 . pp. 488-499. ISSN 0168-1699 http://dx.doi.org/10.1016/j.compag.2019.01.016 DOI:10.1016/j.compag.2019.01.016 |
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TK Electrical engineering. Electronics Nuclear engineering Mahmud, Mohd. Saiful Azimi Zaina lAbidin, Mohamad Shukri Mohamed, Zaharuddin Abd. Rahman, Muhammad Khairie Idham Iida, Michihisa Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
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Robotics in agriculture has experienced enormous development in the past decade. In order to accomplish numerous agricultural tasks, the order in which the crop is covered is particularly important in order to minimise travelling cost and to preserve soil conditions. However, it is difficult to determine an optimised sequential path for the robot which minimizes navigation costs, while ensuring a fully completed agricultural operation. This paper presents the implementation of a multi-objective algorithm to solve the path planning problem for pesticide spraying operation inside a greenhouse. Pesticide spraying problems found in greenhouses have been adapted from the vehicle routing problem found in operations research, where the infected plants represent the customers and the mobile robot represents the vehicles. Routes between the plants are generated using a Probabilistic Roadmap path planner based on the designed virtual environment. The virtual environment is designed based on the real greenhouse environment to visualise the agricultural operation inside the greenhouse. To determine the best routes for the mobile robot, the Non-dominated Sorting Genetic Algorithm using Reference Point Based (NSGA-III) is tested and applied to the system. The solution quality has been compared with the Non-dominated Sorting Genetic Algorithm (NSGA-II) using the C-metric indicator. Comparisons with NSGA-II using the C-metric indicator verify that NSGA-III offers a superior performance with a good quality result. |
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Article |
author |
Mahmud, Mohd. Saiful Azimi Zaina lAbidin, Mohamad Shukri Mohamed, Zaharuddin Abd. Rahman, Muhammad Khairie Idham Iida, Michihisa |
author_facet |
Mahmud, Mohd. Saiful Azimi Zaina lAbidin, Mohamad Shukri Mohamed, Zaharuddin Abd. Rahman, Muhammad Khairie Idham Iida, Michihisa |
author_sort |
Mahmud, Mohd. Saiful Azimi |
title |
Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
title_short |
Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
title_full |
Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
title_fullStr |
Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
title_full_unstemmed |
Multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
title_sort |
multi-objective path planner for an agricultural mobile robot in a virtual greenhouse environment |
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Elsevier B.V. |
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2019 |
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http://eprints.utm.my/id/eprint/87943/ http://dx.doi.org/10.1016/j.compag.2019.01.016 |
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