Browsing NIBIO Brage by Author "Harik, El Houssein Chouaib"
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Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse
Harik, El Houssein Chouaib; Korsæth, Audun (Journal article; Peer reviewed, 2018-05-22)The key factor for autonomous navigation is efficient perception of the surroundings,while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied ... -
Design and Implementation of an Autonomous Charging Station for Agricultural Electrical Vehicles
Harik, El Houssein Chouaib (Peer reviewed; Journal article, 2021-07-02)One of the goals in adopting more sustainable agricultural practices is to reduce green-house-gas emissions from current practices by replacing fossil-fuel-based heavy machinery with lighter, electrical ones. In a ... -
A Semi-Autonomous Multi-Vehicle Architecture for Agricultural Applications
Harik, El Houssein Chouaib; Guinand, Frédéric; Geipel, Jakob (Peer reviewed; Journal article, 2023-08-22)The ageing population, climate change, and labour shortages in the agricultural sector are driving the need to reevaluate current farming practices. To address these challenges, the deployment of robot systems can help ... -
The Heading Weight Function: A Novel LiDAR-Based Local Planner for Nonholonomic Mobile Robots
Harik, El Houssein Chouaib; Korsæth, Audun (Journal article; Peer reviewed, 2019-08-19)In this paper, we present a novel method for obstacle avoidance designed for a nonholonomic mobile robot. The method relies on light detection and ranging (LiDAR) readings, which are mapped into a polar coordinate system. ... -
Tractor-Robot Cooperation: A Heterogeneous Leader-Follower Approach
Harik, El Houssein Chouaib (Peer reviewed; Journal article, 2023-04-06)In this paper, we investigated the idea of including mobile robots as complementary machinery to tractors in an agricultural context. The main idea is not to replace the human farmer, but to augment his/her capabilities ...