Variable field-of-view machine vision based row guidance of an agricultural robot

Jinlin Xue, Lei Zhang, Tony E. Grift

Research output: Contribution to journalArticlepeer-review


A novel variable field-of-view machine vision method was developed allowing an agricultural robot to navigate between rows in cornfields. The machine vision hardware consisted of a camera with pitch and yaw motion control. Guidance lines were detected using an image-processing algorithm, employing morphological features in a far, near and lateral field of view, and the robot was guided along these lines using fuzzy logic control.The method was tested while the vehicle successfully traveled through a distance of 30. m towards the end of a crop row in three replications. To evaluate the guidance performance, RTK-GPS data were collected, showing a maximum guidance error of 15.8. mm and stable navigational behavior.

Original languageEnglish (US)
Pages (from-to)85-91
Number of pages7
JournalComputers and Electronics in Agriculture
StatePublished - Jun 2012


  • Agricultural robot
  • Autonomous guidance
  • Fuzzy logic control
  • Row crop guidance

ASJC Scopus subject areas

  • Forestry
  • Agronomy and Crop Science
  • Computer Science Applications
  • Horticulture


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