Our system has been tested on a testing field with tree trunks and in a natural forest. This process repeats for all the trees selected by the operator. Upon reaching the approach pose, the machine grabs a tree with a general-purpose gripper. We design a path following controller leveraging the legged harvester's capabilities for negotiating rough terrain. A planning algorithm searches for both an approach pose and a path in a single path planning problem. The sensor module is then mounted on the machine and used for localization within the given map.
Subsequently, a human expert selects the trees for harvesting. Harvest does great time tracking, expense tracking and invoicing, but lacks a full-service project management module. The mission starts with a human mapping the area of interest using a custom-made sensor module. Gompie1944 Right now you need to use the third party app to create the custom field which will get listed in the Planner web as well. Strategies for mapping, localization, planning, and control are proposed and integrated into a fully autonomous system. Re: Option to create custom fields for tasks. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest environment. This paper presents an integrated system for performing precision harvesting missions using a legged harvester.
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