https://github.com/agroboticsresearch/headland_trajectory_planning
This repo is includes headland space modeling and trajectory planning for autonomous agricultural vehicle in the orchard.
https://github.com/agroboticsresearch/headland_trajectory_planning
Science Score: 49.0%
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Found 4 DOI reference(s) in README -
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Low similarity (11.5%) to scientific vocabulary
Repository
This repo is includes headland space modeling and trajectory planning for autonomous agricultural vehicle in the orchard.
Basic Info
- Host: GitHub
- Owner: AgRoboticsResearch
- License: gpl-3.0
- Language: Jupyter Notebook
- Default Branch: main
- Size: 3.65 MB
Statistics
- Stars: 20
- Watchers: 6
- Forks: 5
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
Headlandtrajectoryplanning
This repo introduces a method of headland space modeling and trajectory planning for autonomous agricultural vehicles (AAV) operating in the orchard. The environment is modeled with geometric shapes, and the headland turning is solved similarly to the valet parking problem in a cluttered environment. We leverage the OBCA trajectory planner which has been applied in Apollo-Baidu.
We applied Python to leverage the convenience of Jupyter-Notebook to introduce the algorithm in detail and have optimized the Python code thoroughly to have it run efficiently. In our algorithm, we used Casadi to solve the modeled nonlinear optimization problem.
Updates
- [June 10, 2024] Our paper "Optimization-Based Motion Planning for Autonomous Agricultural Vehicles Turning in Constrained Headlands" has been published in Journal of Field Robotics (JFR).
- [December 8, 2023] Initial release.
How to run
Install system dependencies:
bash sudo apt-get update sudo apt-get install -y libcdd-dev libgmp-devInstall python libraries:
bash pip install -r requirements.txtRun the code in Jupyter Notebook step by step.
Features
Modeling of the headland space in geometric shapes
Classic planner headland turning results
Proposed headland turning results (with implement)
Supplementary
- Tested on a real robot within the vineyard at UC Davis. See our YouTube video.
For any technical issues, please contact Chen Peng or Peng Wei. For commercial inquiries, please contact Chen Peng or Zhenghao Fei.
Citation
If our repo helps your project from either industry or academia, please cite our paper and star our repo. Besides, you are welcome to contact us for a discussion in agricultural robotics!!
bibtex
@article{peng2024optimization,
title={Optimization-based motion planning for autonomous agricultural vehicles turning in constrained headlands},
author={Peng, Chen and Wei, Peng and Fei, Zhenghao and Zhu, Yuankai and Vougioukas, Stavros G},
journal={Journal of Field Robotics},
volume={41},
number={6},
pages={1984--2008},
year={2024},
publisher={Wiley Online Library},
doi={https://doi.org/10.1002/rob.22374}
}
License
This project is released under the GPL-3.0 license.
Owner
- Name: AgRoboticsResearch
- Login: AgRoboticsResearch
- Kind: organization
- Repositories: 1
- Profile: https://github.com/AgRoboticsResearch
GitHub Events
Total
- Watch event: 7
- Push event: 5
- Fork event: 2
Last Year
- Watch event: 7
- Push event: 5
- Fork event: 2
Dependencies
- casadi >=3.6.3
- catkin_pkg >=0.5.2
- dubins >=1.0.1
- heapdict >=1.0.1
- matplotlib >=3.7.1
- pypoman >=0.5.4
- pyyaml >=6.0
- rdp >=0.8
- scikit-spatial >=7.0.0
- scipy >=1.10.1
- shapely >=2.0.1