Development of a mobile robot mission scheduler system based on high level planned farming activities
Tutor / directorAranda López, Juan
Document typeMaster thesis
Rights accessRestricted access - author's decision (embargoed until 2021-12-31)
Robotics is changing the world in a fast manner, simplifying complex and tedious tasks not only in the industrial processes and military fields but also in a social scope and in other areas as, for instance, the farming field that, until now, have been using rudimentary technologies and techniques for conducting its purposes. Earth Rover Europe S.L. is a company within the technological agriculture sector which is developing novel solutions with the aim of helping to feed a growing global population by improving yields, reducing on farm crop waste and at the same time reducing CO2 emissions. Among these contributions is the development of unmanned ground vehicles which will work autonomously inside a farm, carrying out a set of activities previously performed by humans in a less efficient and ecological manner. At this point is where the project presented in the current document takes place. This thesis, which has been conducted inside the previously mentioned company, will present the fundamentals of the development of the central system that will be in charge of the supervision of the entire farm and its elements as well as of the orchestration of the fleet of robots that will be working in it. In order to achieve this, a meticulous description of the entire system, its components and the relations between them must be done before getting on with its implementation. This central system includes a global planning algorithm which optimizes the routes taken by the different robots within the farm to accomplish with the assigned missions. Furthermore, this system must be integrated within an operational environment, therefore, this document will also present the developed simulation for testing purposes and also the real implementation of one rover for doing some real experiments.
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