Detection deviation and correcting the movement of forest vehicles

Detection deviation and correcting the movement of forest vehicles

Semen D. Yaskelyainen
Petrozavodsk State University (PetrSU), Student, 33, pr. Lenina, Petrozavodsk, 185910, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Grigorii E. Rego
PhD in Technical Sciences, PetrSU, Assistant Professor of Department of Applied Mathematics and Cybernetics, 33, pr. Lenina, Petrozavodsk, 185910, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-2235-8113

Ekaterina M. Volkova
PetrSU, Department of Forest Complex Technology and Landscape Architecture, Lecturer, 33, pr. Lenina, Petrozavodsk, 185910, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0003-2524-1855

Vladislav A. Krasnyi
PetrSU, Student, 33, pr. Lenina, Petrozavodsk, 185910, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Dmitrii S. Melnikov
PetrSU, 33, pr. Lenina, Petrozavodsk, 185910, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received October 31, 2024

Abstract
The article addresses the issue of logging machinery deviating from the designated route. Such deviations increase the area of negative environmental impact and lead to the destruction of forest stands beyond skidding trails and logging sites. An overview of existing approaches to solving this problem is presented, along with a description of the development process of a deviation detection and trajectory correction system. Due to its modular architecture, the proposed system not only reduces overall deviation but also allows for the integration of individual modules into autonomous systems for various purposes. A critical deviation detection algorithm has been developed to ensure the timely identification of situations where the machinery exceeds the permissible distance from the designated route.

Key words
Deviation detection, correcting the movement, movement along the route, geopositioning, forest robot.

Acknowledgements
The research described in this publication was made possible in part by R&D Support Program for undergraduate and graduate students and postdoctoral researcher of PetrSU, funded by the Government of the Republic of Karelia.

EDN
GEJEPZ

Bibliographic description
Yaskelaynen, S.D. et al. (2024), "Detection deviation and correcting the movement of forest vehicles", Robotics and Technical Cybernetics, vol. 13, no. 1, pp. 57-63, EDN: GEJEPZ. (in Russian).

UDC identifier
630*36

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