WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Subsurface drip irrigation emitter spacing effects on soil water redistribution, corn yield and water productivity

Emitter spacings of 0.3 to 0.6 m are commonly used for subsurface drip irrigation (SDI) of corn on the deep, silt loam soils of the U.S. Great Plains. Subsurface drip irrigation emitter spacings of 0.3, 0.6, 0.9 and 1.2 m were examined for the resulting differences in soil water redistribution, corn grain yield, yield components, seasonal water use, and water productivity in a 4‐year field study (2005 through 2008) at the Kansas State University Northwest Research‐Extension Center, Colby, Kansas. The results indicate that there is increased preferential water movement along the dripline (parallel) as compared to perpendicular to the dripline and that this phenomenon partially compensates for wider emitter spacings in terms of soil water redistribution. Corn yield and water productivity (WP) were not significantly affected by the emitter spacing with application of a full irrigation regime