Optimal kinematic control of a robotic excavator with laser TVS feedback

Sergiyenko, Oleg; Hernández-Balbuena, Daniel; Gurko, Alexander; Yanchevskiy, I. V.; Tyrsa, Vera; López, Miguel A.; Rodríguez-Quiñonez, Julio C.

doi:10.1109/iecon.2013.6699816

Cited by 6 publications

(1 citation statement)

References 8 publications

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“…These results are evaluated in the next section Experimentation Analysis, and section Conclusions finalizes the present paper. More preliminary research about the TVS can be found in Sergiyenko et al (2009Sergiyenko et al ( , 2013, Lindner et al (2014 and Sergiyenko et al (2016).…”

Section: Introductionmentioning

confidence: 99%

Exact laser beam positioning for measurement of vegetation vitality

Линднер¹,

Sergiyenko²,

Rivas-López³

et al. 2017

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Purpose The purpose of this paper is to present a novel application for a newly developed Technical Vision System (TVS), which uses a laser scanner and dynamic triangulation, to determine the vitality of agriculture vegetation. This vision system, installed on an unmanned aerial vehicle, shall measure the reflected laser energy and thereby determine the normalized differenced vegetation index. Design/methodology/approach The newly developed TVS shall be installed on the front part of the unmanned aerial vehicle, to perform line-by-line scan in the vision system field-of-view. The TVS uses high-quality DC motors, instead of previously researched low-quality DC motors, to eliminate the existence of two mutually exclusive conditions, for exact positioning of a DC motor shaft. The use of high-quality DC motors reduces the positioning error after control. Findings Present paper emphasizes the exact laser beam positioning in the field-of-view of a TVS. By use of high-quality instead of low-quality DC motors, a significant reduced positioning time was achieved, maintaining the relative angular position error less than 1 per cent. Best results were achieved, by realizing a quasi-continuous control, using a high pulse-width modulated duty cycle resolution and a high execution frequency of the positioning algorithm. Originality/value The originality of present paper is represented by the novel application of the newly developed TVS in the field of agriculture. The vitality of vegetation shall be determined by measuring the reflected laser energy of a scanned agriculture zone. The paper’s main focus is on the exact laser beam positioning within the TVS field-of-view, using high-quality DC motors in closed-loop position control configuration.

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