A six-wheel differential steering vehicle was designed and built to provide a vehicle platform for a greenhouse sprayer. The vehicle was designed to operate as a self-contained system, which would carry the power supply, spray tank, pump, and boom. Independently controlled DC motors were used to provide differential steering for the vehicle. A fuzzy logic-based proportional-derivative controller was developed and tested to navigate the vehicle through the aisle way using machine vision and laser radar range information. The vehicle was tested under three different path configurations using a flexible curvature track The track was configured for straight, moderate and heavy curved conditions. Path tracking comparisons were made between the vision-based control and a laser radar (ladar) based control. The error was monitored using the ladar as the most accurate measure of the position error between the path centerline and the vehicle centerline. Error comparisons were made using RMS error and average instantaneous error. It was found that the ladar-based control was the better overall guidance sensor under all track conditions. Although average errors were fairly low at approximately 10 mm, the maximum errors left room for improvement at approximately 40 mm. It was proposed, that a control scheme which used both machine visions and ladar may provide a more robust guidance control then using independent sensor range data.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autonomous greenhouse sprayer vehicle using machine vision and ladar for steering control


    Additional title:

    Autonomes Treibhaussprühfahrzeug mit Einsatz von maschinellem Sehen und Ladar für die Lenkungsregelung


    Contributors:
    Burks, T.F. (author) / Subramanian, V. (author) / Singh, S. (author)


    Publication date :

    2004


    Size :

    12 Seiten, 9 Bilder, 1 Tabelle, 9 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    SPECTRAL LADAR FOR AUTONOMOUS NAVIGATION

    Powers, M.A. / Davis, C.C. / Association for Unmanned Vehicle Systems International | British Library Conference Proceedings | 2010


    LADAR APPARATUS FOR AUTONOMOUS DRIVING ROBOT

    LEE IC SEUNG | European Patent Office | 2018

    Free access

    History of Laser Radar (LADAR) to Support Autonomous Vehicle Operations

    Hintz, R. / Marrs, D. / Directed Energy Professional Society | British Library Conference Proceedings | 2007


    LADAR APPARATUS FOR AUTONOMOUS DRIVING ROBOT

    European Patent Office | 2019

    Free access

    AERIAL VEHICLE INCLUDING LADAR SYSTEM

    CHUNG YOUNGDAE | European Patent Office | 2017

    Free access