====== In row navigation for agricultural robots ======
**David Reiser **
**Contact:** [[https://www.uni-hohenheim.de/person/david-reiser|Link Kontaktdaten]]\\
**Email:** dreiser@uni-hohenheim.de\\
**Master Thesis, Bachelor Thesis**

{{http://www.tankonyvtar.hu/en/tartalom/tamop425/0032_terinformatika/images/3_11.bmp?300x300}}

==== Problem ====
In agriculture robots can not just follow the shortest route to a way point. They have to follow existing structures like crop rows in the field. The purpose is not to damage crop plants and thereby reduce the yield. For that robots should be able to navigate in the field during different growth stages of the crop and find a way to deal with the possible happenings and changes in the environment. 

==== Aim and Objectives ====
  * Research of the possible workfield 
  * Research of usable sensors to avoid obstacles and maschine damage
  * Select a possible navigation algorithm and evaluate it with one sensortype
  * Create a plugin that enables a existing robotplatform (Phoenix/Talos) to follow rows of crop plants in fields using a fusion of different sensors (Laserscanner, Kinnect etc.)
  * use the Libraries OpenCV and PCL for the data handling
==== Requirements ====

Basics in C/C++ programming, basic knowledge of sensordata processing