Task Space Model Predictive Control for Vineyard Spraying with a Mobile Manipulator

Ivo Vatavuk, Goran Vasiljević and Zdenko Kovačić
Additional contact information
Ivo Vatavuk: Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia
Goran Vasiljević: Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia
Zdenko Kovačić: Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia

Agriculture, 2022, vol. 12, issue 3, 1-20

Abstract: In this paper, a Model Predictive Control (MPC)-based approach for vineyard spraying is presented, able to adapt to different vine row structures and suitable for real-time applications. In the presented approach, the mobile base moves along a row of vines while the robotic arm controls the position and orientation of the spray nozzle. A reference lawnmower pattern trajectory is generated from the vine canopy description, with the aim of minimizing waste while ensuring vine coverage. MPC is used to compute the trajectory of the vehicle along the row and the manipulator tool trajectory, which follow the spray reference, while minimizing vehicle acceleration and tool displacement. The manipulator tool velocity commands provided by the MPC algorithm are tracked using task space control. The presented approach is evaluated in two experiments: a vineyard spraying scenario and an external evaluation scenario in an indoor environment equipped with the Optitrack camera system.

Keywords: mobile manipulation; optimization and optimal control; agricultural robotics; viticulture (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2022
References: View complete reference list from CitEc
Citations: View citations in EconPapers (3)

Downloads: (external link)
https://www.mdpi.com/2077-0472/12/3/381/pdf (application/pdf)
https://www.mdpi.com/2077-0472/12/3/381/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jagris:v:12:y:2022:i:3:p:381-:d:767178

Access Statistics for this article

Agriculture is currently edited by Ms. Leda Xuan

More articles in Agriculture from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().