Abstract

SOLAQUE, L. E.; VELASCO, A. E.  and  RIVEROS, A.. Trajectory Planning by A * technique and smoothing by Bezier curves for the tool of the weed removal system of a robot dedicated to precision farming. Entre Ciencia e Ingenieria [online]. 2018, vol.12, n.24, pp.43-51. ISSN 1909-8367.  https://doi.org/10.31908/19098367.3814.

The ground and aerial robotics, is being put into operation of agribusiness. Precision agriculture tasks have opened a dominant field to integrate the developments of mobile robotics. Trajectory planning is an option for weed removal systems from a 3D image processing system. This system determines the location of the weed (not treated here) and plans the movement of the tool to eradicate it. This tool is called end effector and it is integrated into a positioning system XYZ. This one is found on a mobile platform called Ceres_AgroBot (Robot created for agricultural work), who moves through the crop and performs inspection-removal. The article treated here presents a solution to find the trajectory that must follow the tool that removes the weeds from the crop, without colliding with the plants of interest. It is based on the implementation of a search algorithm supported on the A*, technique for determining the path in 3D space with obstacles. As inputs are: the rest point of the tool ( q start ), the coordinate of the weed ( q target ) and the coordinates of the objects. Sometimes the trajectory found produces movements that cause sudden displacements and strong actions in the actuators, so it is also presented, the way to integrate the smoothing of the trajectory by the Bezier techniques, such that the curve is adjusted to a dynamic continuous and appropriate to the elements that make up the removal system.

Keywords : Mobile Robotics; Precision Farming; Weed Removal; Path Planning; A*; Bezier.

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