Abstract
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 language | English (US) |
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Pages (from-to) | 85-91 |
Number of pages | 7 |
Journal | Computers and Electronics in Agriculture |
Volume | 84 |
DOIs | |
State | Published - Jun 2012 |
Keywords
- Agricultural robot
- Autonomous guidance
- Fuzzy logic control
- Row crop guidance
ASJC Scopus subject areas
- Forestry
- Agronomy and Crop Science
- Computer Science Applications
- Horticulture