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Spatio-Temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario

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Abstract

The marion project aims at automatizing the working processes in the intralogistics and agriculture through process and motion planning of mobile cooperative machines. This paper focuses on the agricultural scenario of wheat harvest. The harvesting process with cooperative machines is a challenging task because the machines’ actions influence and constrain each other spatio-temporally. In marion, algorithms from robotics are adapted to solve the planning problem under the basic conditions of high dynamics in process execution due to yield deviation and limited communication bandwidth of the radio communication. The developed planning system generates and optimizes the overall plan for all involved cooperative machines regarding multiple criteria.

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Acknowledgements

This research and development project is funded by the German Federal Ministry of Economics and Technology (BMWi) and supervised by the project management agency for multimedia, German Aerospace Center (DLR), Cologne, grant no. 01MA10027.

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Authors and Affiliations

  1. German Research Center for Artificial Intelligence, DFKI-RIC, 28359, Bremen, Germany

    Stephan Scheuren, Stefan Stiene, Ronny Hartanto & Joachim Hertzberg

  2. University of Osnabrück, 49076, Osnabrück, Germany

    Joachim Hertzberg

  3. CLAAS Selbstfahrende Erntemaschinen GmbH, 33426, Harsewinkel, Germany

    Max Reinecke

Authors
  1. Stephan Scheuren
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  2. Stefan Stiene
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  3. Ronny Hartanto
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  4. Joachim Hertzberg
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  5. Max Reinecke
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Correspondence to Stephan Scheuren.

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Scheuren, S., Stiene, S., Hartanto, R. et al. Spatio-Temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario. Künstl Intell 27, 341–346 (2013). https://doi.org/10.1007/s13218-013-0267-y

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  • DOI: https://doi.org/10.1007/s13218-013-0267-y

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