1. Possible enhancing of spraying management by evaluating automated control in different training systemsJurij Rakun, Peter Lepej, Rajko Bernik, Jelisaveta Seka Cvijanović, Miljan Cvetković, Erik Rihter, 2024, izvirni znanstveni članek Opis: This study explores the feasibility of an automated sensor system for precise plant protection product application in plum orchards, aiming to address issues related to inefficient spraying practices, environmental pollution, and reduced crop quality associated with traditional training systems. The research focuses on detecting tree canopy presence, evaluating electromagnetic valve actuation in different plum training systems, and optimizing plant protection product usage. Sensor-based spraying demonstrates its potential to improve operational efficiency, reduce product losses, and foster environmentally responsible agricultural practices, contributing to the broader field of precision agriculture. For the selected scene, the results show the possibility of a substantial savings of 71.37%, 47.17%, 58.59%, and 55.06% for the One-axis, Bi-axis, UFO, and Combine systems, respectively. Implementing this technology can potentially lead to significant improvements in plum orchard operations while minimizing the industry’s ecological impact on the environment.
Ključne besede: sensors, spraying application control, target-oriented spray, plum orchard, training systems
Objavljeno v DKUM: 08.08.2025; Ogledov: 0; Prenosov: 1
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2. Sensor fusion-based approach for the field robot localization on Rovitis 4.0 vineyard robotJurij Rakun, Matteo Pantano, Peter Lepej, Miran Lakota, 2022, izvirni znanstveni članek Opis: This study proposed an approach for robot localization using data from multiple low-cost sensors with two goals in mind, to produce accurate localization data and to keep the computation as simple as possible. The approach used data from wheel odometry, inertial-motion data from the Inertial Motion Unit (IMU), and a location fix from a Real-Time Kinematics Global Positioning System (RTK GPS). Each of the sensors is prone to errors in some situations, resulting in inaccurate localization. The odometry is affected by errors caused by slipping when turning the robot or putting it on slippery ground. The IMU produces drifts due to vibrations, and RTK GPS does not return to an accurate fix in (semi-) occluded areas. None of these sensors is accurate enough to produce a precise reading for a sound localization of the robot in an outdoor environment. To solve this challenge, sensor fusion was implemented on the robot to prevent possible localization errors. It worked by selecting the most accurate readings in a given moment to produce a precise pose estimation. To evaluate the approach, two different tests were performed, one with robot localization from the robot operating system (ROS) repository and the other with the presented Field Robot Localization. The first did not perform well, while the second did and was evaluated by comparing the location and orientation estimate with ground truth, captured by a hovering drone above the testing ground, which revealed an average error of 0.005 m±0.220 m in estimating the position, and 0.6°±3.5° when estimating orientation. The tests proved that the developed field robot localization is accurate and robust enough to be used on a ROVITIS 4.0 vineyard robot.
Ključne besede: localization, odometry, IMU, RTK GPS, vineyard, robot, sensors fusion, ROS, precision farming
Objavljeno v DKUM: 02.07.2024; Ogledov: 123; Prenosov: 21
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3. Sistemi in krmiljenje avtonomnih mobilnih robotov v neurejenih prostorihPeter Lepej, 2017, doktorska disertacija Opis: Avtonomna mobilna robotika je uporabna v nadzornih sistemih in kot pomoč pri iskanju in reševanju žrtev v primeru nesreč. Regulacija hitrosti modularnega avtonomnega sistema za pomoč pri reševanju ob naravnih nesrečah ima veliko težo, saj je bistvena za pravilno gibanje v prostoru. Ena izmed pomembnih nalog v avtonomni robotiki je regulacija hitrosti (linearne in kotne), ki jo proizvede avtonomni sistem za mobilno bazo. Naš glavni cilj je ustvariti hitrostni regulator na višjem nivoju, ki ga je mogoče uporabiti na različnih mobilnih platformah. V tem primeru se osredotočamo na mobilne robote z diferencialnim pogonom. Naš pristop sloni na iskanju ujemanja krožnic, ki upošteva kinematični model in omejitve mobilne baze robota. Na podlagi algoritma se izvede trajektorija, ta je odvisna od nastavljenih parametrov, ki so prilagojeni za mobilno bazo. Dodatno smo v algoritem vključili poravnavo kota orientacije in kompenzacijo naklona kota med gibanjem mobilnega robota. Opisali smo našega reševalnega robota in sisteme za avtonomno delovanje in implementacijo algoritmov. Predlagan algoritem za sledenje smo primerjali z algoritmom Hector. Prikazani so rezultati primerjav in rezultati sledenja mobilnega robota v simulacijah in realnih eksperimentih. Nato smo nadaljevali naše delo z implementacijo našega algoritma na brezpilotnih letečih vozilih, kjer smo zgradili kompletno simulacijo z možnostjo vključitve pravega letečega vozila. Na tem sistemu smo izvedli serijo eksperimentov, da bi dokazali koncept sistema.
Ključne besede: mobilni robot, ujemanje krožnic, sledenje poti, hitrostna regulacija, reševalni robot, brezpilotno leteče vozilo, kombinirana simulacija
Objavljeno v DKUM: 21.02.2018; Ogledov: 1851; Prenosov: 214
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4. Dynamic arc fitting path follower for skid-steered mobile robotsPeter Lepej, Johannes Maurer, Suzana Uran, Gerald Steinbauer, 2015, izvirni znanstveni članek Opis: Many applications, such as surveillance, inspection or search and rescue operations, can be performed with autonomous robots. Our aim is a control of modular autonomous systems in rescue robotics. One of the basic problems with autonomous robotics is the execution part where the control commands (translation and rotational velocities) are produced for mobile bases. Therefore we have focused on this area because there is only a small amount of available path following software for skid-steered mobile robots. Our goal was to develop a velocity controller that could be used for multiple skid-steered mobile bases. We considered differential drive mobile bases such as tracked skid-steering mobile bases. Our approach is based on an arc fitting algorithm, which takes into account the robot constraints and kinematical model. It produces a continuous trajectory where fitting to the given path is adapted based on given parameters. Moreover, we have included orientation angle compensation while the mobile robot is moving and ground inclination compensation. Our rescue robot is described, together with the simulation setup and algorithm implementation. We compared our algorithm to the Hector-based software and curvature velocity approach. The results for the proposed algorithm are shown for the simulation results and the experiment.
Ključne besede: mobile robot, arc fitting, path following, velocity control, rescue robot
Objavljeno v DKUM: 12.07.2017; Ogledov: 2037; Prenosov: 443
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7. UPORABA RAČUNALNIŠKEGA VIDA ZA NADZOR IN UPRAVLJANJE MOBILNIH PLATFORMPeter Lepej, 2009, diplomsko delo Opis: Diplomsko delu pred vami govori o računalniškem vidu, kateri v današnjem času, času tehnološkega razcveta, postaja vedno bolj aktualen. Na prvih straneh so predstavljene znane rešitve in uporaba računalniškega vida v vsakdanjem življenju, njegova uporaba v vojski, proizvodnji, avtomobilistični in kmetijski industriji. Nato so opisani znani postopki in algoritmi digitalne obdelave slik. Sledi podrobnejši opis avtomatiziranega poljedelskega stroja in uporabljenih algoritmov, ki so bili razviti za njegovo delovanje. Za konec so predstavljeni rezultati izsledkov delovanja avtomatiziranega poljedelskega stroja v kontroliranih in nekontroliranih pogojih. Delo zaključuje sklep in predstavitev možnosti uporabe računalniškega vida v prihodnosti.
Ključne besede: računalniški vid, vodenje, nadzor, avtomatizacija, kamera, senzorji, programiranje, digitalna obdelava slik
Objavljeno v DKUM: 14.09.2009; Ogledov: 3002; Prenosov: 325
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