Agricultural robot turning in the headland of corn fields

Jinlin Xue, Tony E. Grift

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAdvanced Research on Mechanical Engineering, Industry and Manufacturing Engineering
Pages780-784
Number of pages5
DOIs
StatePublished - Jul 4 2011
Event2011 International Conference on Mechanical Engineering, Industry and Manufacturing Engineering, MEIME2011 - Beijing, China
Duration: Jul 23 2011Jul 24 2011

Publication series

NameApplied Mechanics and Materials
Volume63-64
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2011 International Conference on Mechanical Engineering, Industry and Manufacturing Engineering, MEIME2011
CountryChina
CityBeijing
Period7/23/117/24/11

Keywords

  • Agricultural robot
  • Field of view
  • Machine vision
  • Turning

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Xue, J., & Grift, T. E. (2011). Agricultural robot turning in the headland of corn fields. In Advanced Research on Mechanical Engineering, Industry and Manufacturing Engineering (pp. 780-784). (Applied Mechanics and Materials; Vol. 63-64). https://doi.org/10.4028/www.scientific.net/AMM.63-64.780