Autonomous farming: modelling and control of agricultural machinery in a unified framework

Eaton, Ray; Katupitiya, Jayantha; Siew, K. W.; Howarth, Blair

doi:10.1504/ijista.2010.030223

Cited by 19 publications

(13 citation statements)

References 12 publications

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“…However, the GNSS positioning technique cannot guarantee continuity of positioning and provide attitude information about vehicles. To overcome this type of problem, new types of navigation systems that combine GNSS with auxiliary sensors such as IMU (inertial measurement unit) and tilt sensors have been applied to autonomous agricultural vehicles [10][11][12]. Vision sensors have been widely used in mobile robot navigation systems to provide various forms of information for use in autonomous agricultural vehicles, such as localization, map construction, autonomous navigation, path following, inspection, monitoring, and obstacle avoidance [13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Preliminary Results of the Development of a Single-Frequency GNSS RTK-Based Autonomous Driving System for a Speed Sprayer

Han

Park

et al. 2019

Journal of Sensors

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The speed sprayer plays an important role in fruit orchards as it undertakes spraying to prevent damage by blight and harmful insects. Although farmers who use speed sprayers wear protective devices, pesticide poisoning incidents and damage can occur when pesticides penetrate the skin. In addition, skilled manpower in agriculture is decreasing due to aging populations in farming villages. To overcome these problems, we aim to develop an autonomous driving system using a single-frequency GNSS RTK for commercialization of an autonomous driving speed sprayer. Therefore, in this study, path generation and a tracking system based on the single-frequency GNSS RTK are developed and the preliminary results of tests of this system are analyzed. The field test of the developed system showed positional accuracy of 0.01 m.

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Section: Introductionmentioning

confidence: 99%

Preliminary Results of the Development of a Single-Frequency GNSS RTK-Based Autonomous Driving System for a Speed Sprayer

Han

Park

et al. 2019

Journal of Sensors

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“…Automatic navigation technology of agricultural machinery is one of the most important support technologies for modern agricultural equipment. Its application in precision agriculture is regarded as one of the main issues noteworthy for efficiency improvement [2][3][4][5][6] and lower cost [7]. It would desirable to offer the promise of higher efficiency, better and more consistent performance, and reduced labor costs and release the operator from driving to concentrate on implementing other functions.…”

Section: Introductionmentioning

confidence: 99%

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Yin

Sun

et al. 2018

Journal of Electrical and Computer Engineering

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The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.

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“…Regardless of the type of GNSS used, this navigational technology has some limitations when the GNSS serves as the only position sensor for autonomous navigation of mobile robots. For this reason, RTK-GNSS is frequently combined with other sensors, such as inertial measurement units (IMUs) [ 14 , 15 ] or fibre-optic gyroscopes (FOGs) [ 16 , 17 , 18 ]. When a GNSS, even a RTK-GNSS, is employed as the only sensor for navigating across a crop without stepping on plants, an essential behaviour in crops such as maize, it is an indispensable requirement to perfectly know the layout of the crop rows and therefore, crops must be sowed with an RTK-GNSS-guided planting system or mapped using a georeferenced mapping technique.…”

Section: Introductionmentioning

confidence: 99%

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

Bengochea-Guevara

Conesa-Muñoz

Andújar

et al. 2016

Sensors

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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.

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Autonomous farming: modelling and control of agricultural machinery in a unified framework

Cited by 19 publications

References 12 publications

Preliminary Results of the Development of a Single-Frequency GNSS RTK-Based Autonomous Driving System for a Speed Sprayer

Preliminary Results of the Development of a Single-Frequency GNSS RTK-Based Autonomous Driving System for a Speed Sprayer

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

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