Autonomous Agricultural Robot and Its Row Guidance
A vision-based row guidance method is presented to guide a robot platform which is designed independently to drive through the row crops in a field according to the design concept of open architecture. Then, the offset, et and heading angle of the robot platform are detected in real time to guide the platform on the basis of recognition of a crop row using machine vision. And the control scheme of the platform is proposed to carry out row guidance. Finally, the preliminary experiments of row guidance were implemented in a vegetable field. Experimental results show that algorithms of row identification and row guidance are etfeetive according to the parameters measured and analyzed such as the heading angle and the offset for row guidance and the difference between the motion trajectoty of the robot and the expected trajectory. And the accuracy of row gnidance is up to ± 35mm, which means that the robot can move with a sufficiently high accuracy.
Agricultural Robot Machine Vision Row Guldance Row identification Control
XUE Jinlin XU Liming
College of Engineering, Nanjing Agricultural University, Nanjing 210031, China College of Engineering, China Agricultural University, Beijing 100083, China
国际会议
长沙
英文
725-729
2010-03-13（万方平台首次上网日期，不代表论文的发表时间）