Navigation's 2024 term 2 work.
The goal for this term is to explore navigation fundamentals as well as path planning given a simple map (maybe deep learning as well).
From term 1 we came out with some reactive navigation models.
Hough algorithm
CenterRowAlgorithm
There are three big areas to explore this term:
How can we get Agrobot to get to a point given its constrained movement (Ackermann steering)?
Use this chapter of the textbook to help you with this challenge.
https://link.springer.com/chapter/10.1007/978-3-031-06469-2_4
This chapter gives the intro to the topic and is where the last image comes from:
https://link.springer.com/chapter/10.1007/978-3-031-06469-2_5#Sec21
Bug algorithm:
- This seems very good for Task 1
Potential Field Algorithm:
- This seems very good for Task 1. How can we place attracting forces to guide the robot around crop rows?
Random Tree Algorithm (RRT/RRT*):
This resouce is amazing for visualizing RRT: https://demonstrations.wolfram.com/RapidlyExploringRandomTreeRRTAndRRT/
- This one looks useful for exploring an unknown area for weeds, ie Task 3 for FRE.
- For a robot to use this algorithm it would need to be tweaked so it does not need to backtrack so much, what is the best way to do this?
All of these can be found in ch 11 of this textbook:
https://link.springer.com/chapter/10.1007/978-3-031-06469-2_11
More advanced image processing can be found in chapter 14, like stiching images together:
https://link.springer.com/chapter/10.1007/978-3-031-06469-2_14#Sec34
Monadic Operations thresholding, histogram normalization, gamma correction, ...
Edge detection
There is no way this is not useful
Boundary Detection
Same story as Edge detection
Distance transform
Maybe useful for preprocessing, definitely useful for some path planning applications.
Template matching?
Not likely that useful but cool to do image detection without ML
Noise Cleanup
Likely not that useful, but cool
Look into: https://github.com/FieldRobotEvent/virtual_maize_field https://github.com/UBCAgroBot/navigation-2019-2023
FRE resouces can be suprisingly elusive so if you find anything interesting put it here.
FRE Website: https://fieldrobot.nl/event/
FRE 24 Competition guidelines: https://fieldrobot.nl/event/wp-content/uploads/2024/04/Rules_FRE24_V4.pdf
Youtube video with footage of robots completing the challenges:
https://www.youtube.com/watch?v=bHzV4xi0JQk&t=78s
Sample code for robotics algorithms:
https://github.com/AtsushiSakai/PythonRobotics
Advanced motion planning, planning under uncertainty, sensor-based planning, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning:
http://lavalle.pl/planning