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Towards the development and verification of a 3D-based advanced optimized farm machinery trajectory algorithm

Tomáš Řezník, Lukáš Herman, Martina Klocová, Filip Leitner, Tomáš Pavelka, Šimon Leitgeb, Kateřina Trojanová, Radim Štampach, Dimitrios Moshou, Abdul Mouazen (UGent) , et al.
(2021) SENSORS. 21(9).
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Abstract
Efforts related to minimizing the environmental burden caused by agricultural activities and increasing economic efficiency are key contemporary drivers in the precision agriculture domain. Controlled Traffic Farming (CTF) techniques are being applied against soil compaction creation, using the on-line optimization of trajectory planning for soil-sensitive field operations. The research presented in this paper aims at a proof-of-concept solution with respect to optimizing farm machinery trajectories in order to minimize the environmental burden and increase economic efficiency. As such, it further advances existing CTF solutions by including (1) efficient plot divisions in 3D, (2) the optimization of entry and exit points of both plot and plot segments, (3) the employment of more machines in parallel and (4) obstacles in a farm machinery trajectory. The developed algorithm is expressed in terms of unified modeling language (UML) activity diagrams as well as pseudo-code. Results were visualized in 2D and 3D to demonstrate terrain impact. Verifications were conducted at a fully operational commercial farm (Rostenice, the Czech Republic) against second-by-second sensor measurements of real farm machinery trajectories.
Keywords
Electrical and Electronic Engineering, Analytical Chemistry, Atomic and Molecular Physics, and Optics, Biochemistry, controlled traffic farming, coverage path planning, digital elevation model, mission planning, soil compaction, AGRICULTURAL ROBOTS

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MLA
Řezník, Tomáš, et al. “Towards the Development and Verification of a 3D-Based Advanced Optimized Farm Machinery Trajectory Algorithm.” SENSORS, vol. 21, no. 9, 2021, doi:10.3390/s21092980.
APA
Řezník, T., Herman, L., Klocová, M., Leitner, F., Pavelka, T., Leitgeb, Š., … Širůček, P. (2021). Towards the development and verification of a 3D-based advanced optimized farm machinery trajectory algorithm. SENSORS, 21(9). https://doi.org/10.3390/s21092980
Chicago author-date
Řezník, Tomáš, Lukáš Herman, Martina Klocová, Filip Leitner, Tomáš Pavelka, Šimon Leitgeb, Kateřina Trojanová, et al. 2021. “Towards the Development and Verification of a 3D-Based Advanced Optimized Farm Machinery Trajectory Algorithm.” SENSORS 21 (9). https://doi.org/10.3390/s21092980.
Chicago author-date (all authors)
Řezník, Tomáš, Lukáš Herman, Martina Klocová, Filip Leitner, Tomáš Pavelka, Šimon Leitgeb, Kateřina Trojanová, Radim Štampach, Dimitrios Moshou, Abdul Mouazen, Thomas K. Alexandridis, Jakub Hrádek, Vojtěch Lukas, and Petr Širůček. 2021. “Towards the Development and Verification of a 3D-Based Advanced Optimized Farm Machinery Trajectory Algorithm.” SENSORS 21 (9). doi:10.3390/s21092980.
Vancouver
1.
Řezník T, Herman L, Klocová M, Leitner F, Pavelka T, Leitgeb Š, et al. Towards the development and verification of a 3D-based advanced optimized farm machinery trajectory algorithm. SENSORS. 2021;21(9).
IEEE
[1]
T. Řezník et al., “Towards the development and verification of a 3D-based advanced optimized farm machinery trajectory algorithm,” SENSORS, vol. 21, no. 9, 2021.
@article{8709527,
  abstract     = {{Efforts related to minimizing the environmental burden caused by agricultural activities and increasing economic efficiency are key contemporary drivers in the precision agriculture domain. Controlled Traffic Farming (CTF) techniques are being applied against soil compaction creation, using the on-line optimization of trajectory planning for soil-sensitive field operations. The research presented in this paper aims at a proof-of-concept solution with respect to optimizing farm machinery trajectories in order to minimize the environmental burden and increase economic efficiency. As such, it further advances existing CTF solutions by including (1) efficient plot divisions in 3D, (2) the optimization of entry and exit points of both plot and plot segments, (3) the employment of more machines in parallel and (4) obstacles in a farm machinery trajectory. The developed algorithm is expressed in terms of unified modeling language (UML) activity diagrams as well as pseudo-code. Results were visualized in 2D and 3D to demonstrate terrain impact. Verifications were conducted at a fully operational commercial farm (Rostenice, the Czech Republic) against second-by-second sensor measurements of real farm machinery trajectories.}},
  articleno    = {{2980}},
  author       = {{Řezník, Tomáš and Herman, Lukáš and Klocová, Martina and Leitner, Filip and Pavelka, Tomáš and Leitgeb, Šimon and Trojanová, Kateřina and Štampach, Radim and Moshou, Dimitrios and Mouazen, Abdul and Alexandridis, Thomas K. and Hrádek, Jakub and Lukas, Vojtěch and Širůček, Petr}},
  issn         = {{1424-8220}},
  journal      = {{SENSORS}},
  keywords     = {{Electrical and Electronic Engineering,Analytical Chemistry,Atomic and Molecular Physics,and Optics,Biochemistry,controlled traffic farming,coverage path planning,digital elevation model,mission planning,soil compaction,AGRICULTURAL ROBOTS}},
  language     = {{eng}},
  number       = {{9}},
  pages        = {{21}},
  title        = {{Towards the development and verification of a 3D-based advanced optimized farm machinery trajectory algorithm}},
  url          = {{http://doi.org/10.3390/s21092980}},
  volume       = {{21}},
  year         = {{2021}},
}
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