Application Of Robot Formation Scheme For Screening Solar Energy In A Greenhouse

• Main Authors: Fourlas, George K., Kalovrektis, Konstantinos, Fountas, Evangelos
• Format: Text
• Language: English
• Published: Zenodo 2009
• Subjects: Greenhouses application; robot formation; solarenergy.; Balch; Bulgin; Kornet; krekling
• Online Access: https://dx.doi.org/10.5281/zenodo.1061406; https://zenodo.org/record/1061406

Many agricultural and especially greenhouse applications like plant inspection, data gathering, spraying and selective harvesting could be performed by robots. In this paper multiple nonholonomic robots are used in order to create a desired formation scheme for screening solar energy in a greenhouse through data gathering. The formation consists from a leader and a team member equipped with appropriate sensors. Each robot is dedicated to its mission in the greenhouse that is predefined by the requirements of the application. The feasibility of the proposed application includes experimental results with three unmanned ground vehicles (UGV). : {"references": ["T. Balch and R. C. Arkin, \"Behavior-Based Formation Control for\nMultirobot Teams,\" IEEE Trans. On Robotics and Automation, vol. 14,\nno. 6, pp. 926-939, Dec. 1998.", "G. Belforte, R. Deboli, P. Gay, P. Piccarolo, D. Ricauda Aimonino,\n\"Robot Design and Testing for Greenhouse Applications\", Biosystems\nEngineering, vol. 95, no. 3, pp. 309-321, 2006.", "H. Chia-Hung and A. Liu, \"Multiple teams for mobile robot formation\ncontrol\", Proceedings of IEEE International Symbosium on Intelligent\nControl, 2004.", "Y. I. Cui, E. J. Hahn, T. Kozai, K. Y. Paek, \"Number of air exchanges,\nsucrose concentration, photosynthetic photon flux, and differences in\nphotoperiod and dark period temperatures affect growth of Rehmannia\nglutinosa plantlets in vitro\", Plant Cell Tiss. Org. Cult. 62, pp. 219-226.\n2000.", "J. P. Desai, J. Ostrowski and V. Kumar, \"Controlling Formations of\nMultiple Robots\", Proc of the IEEE International Conerence on\nRobotics and Automation, Leuven, Belgium, May 1998.", "H. Z. Enoch, Y. Enoch, \"The history and geography of the greenhouse\",\nin Stanhil, G., Enoch, H.Z. (Eds.), Greenhouse Ecosystems, Ecosystems\nof the World 20, Elsevier, Amsterdam, 1999, pp. 1-15.", "B. von Eslner, D. Briassoulis, D. Waaijenberg, A. Mistriotis, Chr. von\nZabeltizt, J. Gratraud and von Eslner, \"Mechanical properties of\ncovering materials for greenhouses. Part 1. General overview\", J. Agric.\nEng. Res., vol. 67, pp. 81-96, 2000.", "E. J. Van Henten, J. Hemming, B. A. J. Van Tuijl, J. G. Kornet, J.\nBontsema, \"Collision-free Motion Planning for a Cucumber Picking\nRobot\", Biosystems Engineering, vol. 86, no. 2, pp. 135-144, 2003.", "M. Hoenecke, R. J. Bula, T. W., Tibbitts, \"Importance of \u00d4\u00c7\u00ffblue- photon\nlevels for lettuce seedlings grown under red light-emitting diodes\",\nHortScience, vol. 27, pp. 427-430. 1992.\n[10] Kalovrektis, K., Gkotsinas, A., Glossas, N., and Assimakis, N.,\nCommunication of independent robotic grippers for safe hand-over of\nfragile objects, 12th International Workshop on Systems, Signals and\nImage Processing, 22 - 24 September 2005, Chalkis, Greece.\n[11] W. Kang, N. Xi, Y. Zhao, J. Tan and Y. Wang, \"Formation control of\nmultiple autonomous vehicles: Theory and experimentation,\nProceedings of IFAC 15th Triennial World Congress, 2002.\n[12] T. Kozai, C. Kubota, B. R. Jeong, \"Environmental control for large-scale\nproduction of plants through in vitro techniques\", Plant Cell Tiss. Org.\nCult. 51, pp. 49-56, 1997.\n[13] D. Mulvaney, Y. Wang and I. Sillitoe, \"Waypoint-based Mobile Robot\nNavigation,\" in Proc. 6th World Conress on Intelligent Control and\nAutomation, Dalian, China, June 21-23, 2006, pp. 9063-9067.\n[14] Nguyen, Q.T., Kozai, T., Niu, G., Nguyen, U.V., 1999. Photosynthetic\ncharacteristics of coffee (Coffea arabusta) plantlets in vitro in response\nto different CO2 concentrations and light intensities. Plant Cell Tiss.\nOrg. Cult. 55, 133-139.\n[15] C. Reynolds, \"Flocks, herbs and schools: a distributed behavioural\nmodel,\" Computer Graphics, vol. 21, no. 4, pp. 25-34, 1987.\n[16] R. Rosa, \"Solar and thermal radiation inside a multispan greenhouse\", J.\nAgric. Eng. Res., vol. 40, pp. 285-295, 1988.\n[17] M. Y. Roh, Y. B. Lee, \"Control of amount and frequency of irrigation\naccording to integrated solar radiation in cucumber substrate culture\",\nActa Horticulturae, vol. 440, pp. 332-337, 1996.\n[18] A. Saebo, T. Krekling, M. Appelgren, \"Light quality affects\nphotosynthesis and leaf anatomy of birch plantlets in vitro\", Plant Cell\nTiss. Org. Cult, 41, pp. 177-185, 1995.\n[19] P. J. Sammons, T. Furukawa, A. Bulgin, \"Autonomous Pesticide\nSpraying Robot for use in a Greenhouse\", Australian Conference on\nRobotics and Automation, 2005.\n[20] G. Stanhill, A. J. Scholte, \"Solar radiation and water loss from\nglasshouse roses\", Journal of American Society of Horticultural Science,\nvol. 99, pp. 107-110, 1974.\n[21] D. J. Tennessen, E. L. Singsaas, T. D. Sharkey, \"Light-emitting diodes\nas a light source for photosynthesis research\", Photosynth. Res, vol. 39,\npp. 85-92, 1994."]}