TY - GEN
T1 - Agricultural robot turning in the headland of corn fields
AU - Xue, Jinlin
AU - Grift, Tony E.
N1 - Copyright:
Copyright 2012 Elsevier B.V., All rights reserved.
PY - 2011
Y1 - 2011
N2 - This article discusses the development of variable field of view (FOV) of camera to realize headland turning of an agricultural robot in corn fields. The variable FOV of camera was implemented to change direction of view of camera by two DC motors rotating separately in vertical and horizontal planes. Headland turning is executed in six steps: end of row detection and guidance, going blind for a distance, first 90° turning, position calculation, backing control, second 90° turning. Mathematically morphological operations were chosen to segment crops, and fuzzy logic control was applied to guide the robot. Three repetition tests were conducted to perform the headland turning. A maximum error of 17.4mm when using the lateral view and good headland turning operation were observed. It was successful for variable FOV to implement headland turning of the agricultural robot in corn fields.
AB - This article discusses the development of variable field of view (FOV) of camera to realize headland turning of an agricultural robot in corn fields. The variable FOV of camera was implemented to change direction of view of camera by two DC motors rotating separately in vertical and horizontal planes. Headland turning is executed in six steps: end of row detection and guidance, going blind for a distance, first 90° turning, position calculation, backing control, second 90° turning. Mathematically morphological operations were chosen to segment crops, and fuzzy logic control was applied to guide the robot. Three repetition tests were conducted to perform the headland turning. A maximum error of 17.4mm when using the lateral view and good headland turning operation were observed. It was successful for variable FOV to implement headland turning of the agricultural robot in corn fields.
KW - Agricultural robot
KW - Field of view
KW - Machine vision
KW - Turning
UR - http://www.scopus.com/inward/record.url?scp=79959748084&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79959748084&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.63-64.780
DO - 10.4028/www.scientific.net/AMM.63-64.780
M3 - Conference contribution
AN - SCOPUS:79959748084
SN - 9783037851371
T3 - Applied Mechanics and Materials
SP - 780
EP - 784
BT - Advanced Research on Mechanical Engineering, Industry and Manufacturing Engineering
T2 - 2011 International Conference on Mechanical Engineering, Industry and Manufacturing Engineering, MEIME2011
Y2 - 23 July 2011 through 24 July 2011
ER -