TY - GEN
T1 - Specification development of robotic system for pesticide spraying in greenhouse
AU - Komasilovs, Vitalijs
AU - Stalidzans, Egils
AU - Osadcuks, Vitalijs
AU - Mednis, Martins
PY - 2013
Y1 - 2013
N2 - Robotic systems are replacing humans in increasing number of dangerous tasks. Pesticide spraying in greenhouses is one of tasks where a number of robotic systems have been developed and tested. Therefore it is the right time to raise the question about optimisation of the costs efficiency of robot colony. In case of homogenous robotic system only the number of universal robots has to be determined. The drawback is that some subsystems (vision, spraying) might be utilised at a very low rate and the investment may be inefficient. To avoid that it is possible to design a heterogeneous robotic system where the solution space of a robotic system specification is large and optimisation task becomes very complex. Still a good solution can reduce costs. Optimisation of specification of heterogeneous robotic system for pesticide spraying (plant inspection, spraying and pesticide transport functions) in a greenhouse with rectangular layout is performed using genetic algorithms and corresponding open source GAMBot-Eva software. Optimisation results demonstrate three groups of solutions that are within 3% range of lowest possible costs: 1) homogeneous system of universal robots, 2) heterogeneous system with two types of robots (inspection-spraying robots and spraying-transportation robots) and 3) heterogeneous system with two types of robots without duplicating functions (inspection-spraying robots and transportation robots). Applied optimisation approach can be adapted for different robot missions.
AB - Robotic systems are replacing humans in increasing number of dangerous tasks. Pesticide spraying in greenhouses is one of tasks where a number of robotic systems have been developed and tested. Therefore it is the right time to raise the question about optimisation of the costs efficiency of robot colony. In case of homogenous robotic system only the number of universal robots has to be determined. The drawback is that some subsystems (vision, spraying) might be utilised at a very low rate and the investment may be inefficient. To avoid that it is possible to design a heterogeneous robotic system where the solution space of a robotic system specification is large and optimisation task becomes very complex. Still a good solution can reduce costs. Optimisation of specification of heterogeneous robotic system for pesticide spraying (plant inspection, spraying and pesticide transport functions) in a greenhouse with rectangular layout is performed using genetic algorithms and corresponding open source GAMBot-Eva software. Optimisation results demonstrate three groups of solutions that are within 3% range of lowest possible costs: 1) homogeneous system of universal robots, 2) heterogeneous system with two types of robots (inspection-spraying robots and spraying-transportation robots) and 3) heterogeneous system with two types of robots without duplicating functions (inspection-spraying robots and transportation robots). Applied optimisation approach can be adapted for different robot missions.
UR - http://www.scopus.com/inward/record.url?scp=84893779154&partnerID=8YFLogxK
U2 - 10.1109/CINTI.2013.6705239
DO - 10.1109/CINTI.2013.6705239
M3 - Conference contribution
AN - SCOPUS:84893779154
SN - 9781479901975
T3 - CINTI 2013 - 14th IEEE International Symposium on Computational Intelligence and Informatics, Proceedings
SP - 453
EP - 457
BT - CINTI 2013 - 14th IEEE International Symposium on Computational Intelligence and Informatics,
T2 - 14th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2013
Y2 - 19 November 2013 through 21 November 2013
ER -