Smart autonomous grain carts for harvesting-on-demand
Smart autonomous grain carts for harvesting-on-demand
复制标题
用于按需收割的智能自主谷物车
DOI：
10.1109/iros.2017.8206405
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
S. Bhattacharya
中科院分区：
文献类型：
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作者：
Yan Tian;S. Bhattacharya
在这项工作中，我们解决的问题，集中调度和运动规划的多个谷物车有限的能力，服务于一组联合收割机从事收割作业。首先，我们解决了一个设施定位问题，找到最佳的仓库位置，以尽量减少粮食车行驶的距离。接下来，我们制定的调度问题作为一个约束满足问题。对于一个矩形的领域，我们提出了两个方案，允许粮食车卸载所有的联合收割机不中断收割活动。最后，对于这两种方案，我们提出了一个物理参数之间的关系，需要满足的车辆，以满足调度约束。
In this work, we address the problem of centralized scheduling and motion planning for multiple grain carts with finite capacity that serve a group of combine harvesters engaged in a harvesting operation. First, we solve a facility location problem of finding the optimal depot position to minimize the distance traveled by the grain carts. Next, we formulate the scheduling problem as a constraint satisfaction problem. For a rectangular field, we present two schemes which allow the grain carts to unload all the combine harvesters without interrupting the harvesting activity. Finally, for both schemes, we present a relation between the physical parameters of the vehicles that need to be satisfied in order to meet the scheduling constraints.