Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.
Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.
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DOI：
10.3390/s16030276
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发表时间：
2016-02-24
期刊：
影响因子：
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通讯作者：
Ribeiro A
中科院分区：
文献类型：
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作者：
Bengochea-Guevara JM;Conesa-Muñoz J;Andújar D;Ribeiro A
精准农业的概念是近年来出现的，它提出了适应作物变异性的耕作管理。为了有效地实施精准农业，必须以最低的成本以自动化的方式从田间收集数据。在这项研究中，开发了一种小型自主田间巡视车，以最大限度地减少侦察对作物和土壤紧实度的影响。该方法将摄像机与GPS接收器相结合，以获取自主移动机器人在全覆盖范围内检查农田所需的一组基本行为。路径规划者考虑田地轮廓和作物类型来确定最佳检查路线。开发了一种图像处理方法，能够在不受控制的光照条件下，从放置在机器人前部的反射式摄像头获取的图像中实时提取中心作物行。设计并开发了两个模糊控制器来实现视觉导航。开发了一种利用摄像机获取的图像来检测作物行尾的方法。此外，还建立了机器人换排所需的动作。这些操作使机器人能够按照先前确定的计划自动覆盖整个作物，而不会踩到作物行，这是覆盖玉米等作物而不损害它们的基本行为。
The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.