Navigation Using Graph in Forest Environment for Field Robot
Ayumu Tominaga, Eiji Hayashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2019
In this research, we have been focussing on an autonomous moving robot for labor-saving of forestry. In this paper, we propose a method of trajectory generation in an forest environment. This method generate the trajectory based on a graph, whose vertices is trees consisting the forest. A line graph derived from an initial graph will be represented the trajectory that the robot can traverse entire of forest. We show feasible an automate of forestry work such as a weeding operation and survey of every trees by the demonstrate in experimental forest.