Show simple item record

dc.contributor.author
Jelavic, Edo
dc.contributor.author
Jud, Dominic
dc.contributor.author
Egli, Pascal
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2022-06-21T09:46:44Z
dc.date.available
2021-10-08T12:16:14Z
dc.date.available
2021-10-08T14:07:23Z
dc.date.available
2021-11-09T10:38:37Z
dc.date.available
2022-01-07T09:29:11Z
dc.date.available
2022-02-11T12:28:30Z
dc.date.available
2022-03-03T10:18:17Z
dc.date.available
2022-03-25T11:18:43Z
dc.date.available
2022-06-21T09:46:44Z
dc.date.issued
2021
dc.identifier.uri
http://hdl.handle.net/20.500.11850/508821
dc.identifier.doi
10.3929/ethz-b-000508821
dc.description.abstract
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest environment. Strategies for mapping, localization, planning, and control are proposed and integrated into a fully autonomous system. The mission starts with a human mapping the area of interest using a custom-made sensor module. Subsequently, a human expert selects the trees for harvesting. The sensor module is then mounted on the machine and used for localization within the given map. A planning algorithm searches for both an approach pose and a path in a single path planning problem. We design a path following controller leveraging the legged harvester's capabilities for negotiating rough terrain. Upon reaching the approach pose, the machine grabs a tree with a general-purpose gripper. This process repeats for all the trees selected by the operator. Our system has been tested on a testing field with tree trunks and in a natural forest. To the best of our knowledge, this is the first time this level of autonomy has been shown on a full-size hydraulic machine operating in a realistic environment.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Carnegie Mellon University
en_US
dc.subject
Harvesting
en_US
dc.subject
Mapping
en_US
dc.subject
Localization
en_US
dc.subject
Planning
en_US
dc.subject
Control
en_US
dc.title
Towards Autonomous Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester
en_US
dc.type
Journal Article
ethz.journal.title
Field Robotics
ethz.size
51 p.
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.notes
RSL. Note: journal still not issued
en_US
ethz.publication.place
Pittsburgh, PA
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.tag
Localization
en_US
ethz.tag
Robotic Systems Lab
en_US
ethz.tag
Planning
en_US
ethz.tag
mapping
en_US
ethz.tag
Control
en_US
ethz.tag
forest
en_US
ethz.date.deposited
2021-10-08T12:16:19Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Embargoed
en_US
ethz.date.embargoend
2022-10-07
ethz.rosetta.exportRequired
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Towards%20Autonomous%20Robotic%20Precision%20Harvesting:%20Mapping,%20Localization,%20Planning%20and%20Control%20for%20a%20Legged%20Tree%20Harvester&rft.jtitle=Field%20Robotics&rft.date=2021&rft.au=Jelavic,%20Edo&Jud,%20Dominic&Egli,%20Pascal&Hutter,%20Marco&rft.genre=article&
 Search print copy at ETH Library

Files in this item

Thumbnail

Publication type

Show simple item record