טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentEdlerman Eviatar
SubjectAutonomous Multi-Robot System for use in Vineyards and
Orchards
DepartmentDepartment of Civil and Environmental Engineering
Supervisor Professor Raphael Linker
Full Thesis textFull thesis text - English Version


Abstract

Agricultural engineering is moving towards a future that contains autonomous robots similar to other fields such as the automotive, and aerospace industry. Planning systems based on autonomous robots is accompanied by many challenges in a variety of areas such as navigation, guidance, communication, software, logic, hardware and more. This work was focused on the challenges related to guidance, navigation, and control of an autonomous robot inside a vineyard or an orchard. Unreliable GPS signal, constantly changing three-dimensional obstacles, changing lighting conditions, and winds are just a few examples of the challenges posed by the agricultural environment.  Previous research has addressed this issue using sophisticated and expensive robots that contain high-quality sensors and powerful computers. Despite extensive research, it is difficult to find such systems that have become commercial systems mainly due to the high cost of these systems. This research offers an alternative more affordable solution, working with a group of small unmanned ground vehicles and quadcopter that work together to achieve a common goal. The ground robots use a small set of affordable sensors which combine with information produced by processing the quadcopter images. This work was based on numerical experiments in addition to a series of field experiments that verify the performance of the system under real conditions. Using autonomous multi-robots system was helping to reduce solution cost in addition to other advantages of multi-robots systems such as increased system reliability