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Development of machine vision and laser radar based autonomous vehicle guidance systems for citrus grove navigation

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Title: Development of machine vision and laser radar based autonomous vehicle guidance systems for citrus grove navigation
Authors: Subramanian, Vijay1 vijays@ufl.edu, Burks, Thomas F.1, Arroyo, A.A.2
Source: Computers & Electronics in Agriculture. Sep2006, Vol. 53 Issue 2, p130-143. 14p.
Subjects: Industrial lasers, Computer vision, Automatic control systems, Electronic systems
Abstract: Abstract: Current production navigation systems for agricultural vehicles rely on GPS as the primary sensor for steering control. In citrus groves, where the tree canopy frequently blocks the satellite signals to the GPS receiver, an alternative method is required. This paper discusses the development of an autonomous guidance system for use in a citrus grove. The vehicle used for this study was a common tractor. Machine vision and laser radar (ladar) were individually used for guidance and a rotary encoder was used to provide feedback on the steering angle. A PID controller was developed to minimize the path error. The vehicle''s guidance accuracy was tested in flexible test paths constructed of common hay bales. Path tracking performance was observed. The guidance system guided the tractor automatically through straight and curved paths. An average error of 2.8cm using machine vision guidance and an average error of 2.5cm using ladar guidance was observed, when the vehicle was tested in a curved path at a speed of 3.1m/s. The guidance system successfully guided the vehicle in a citrus grove alleyway. [Copyright &y& Elsevier]
Copyright of Computers & Electronics in Agriculture is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 22082121
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
IllustrationInfo
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  Data: Development of machine vision and laser radar based autonomous vehicle guidance systems for citrus grove navigation
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  Data: <searchLink fieldCode="AR" term="%22Subramanian%2C+Vijay%22">Subramanian, Vijay</searchLink><relatesTo>1</relatesTo><i> vijays@ufl.edu</i><br /><searchLink fieldCode="AR" term="%22Burks%2C+Thomas+F%2E%22">Burks, Thomas F.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Arroyo%2C+A%2EA%2E%22">Arroyo, A.A.</searchLink><relatesTo>2</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Computers+%26+Electronics+in+Agriculture%22">Computers & Electronics in Agriculture</searchLink>. Sep2006, Vol. 53 Issue 2, p130-143. 14p.
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  Data: <searchLink fieldCode="DE" term="%22Industrial+lasers%22">Industrial lasers</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+vision%22">Computer vision</searchLink><br /><searchLink fieldCode="DE" term="%22Automatic+control+systems%22">Automatic control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Electronic+systems%22">Electronic systems</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: Abstract: Current production navigation systems for agricultural vehicles rely on GPS as the primary sensor for steering control. In citrus groves, where the tree canopy frequently blocks the satellite signals to the GPS receiver, an alternative method is required. This paper discusses the development of an autonomous guidance system for use in a citrus grove. The vehicle used for this study was a common tractor. Machine vision and laser radar (ladar) were individually used for guidance and a rotary encoder was used to provide feedback on the steering angle. A PID controller was developed to minimize the path error. The vehicle''s guidance accuracy was tested in flexible test paths constructed of common hay bales. Path tracking performance was observed. The guidance system guided the tractor automatically through straight and curved paths. An average error of 2.8cm using machine vision guidance and an average error of 2.5cm using ladar guidance was observed, when the vehicle was tested in a curved path at a speed of 3.1m/s. The guidance system successfully guided the vehicle in a citrus grove alleyway. [Copyright &y& Elsevier]
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  Label:
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  Data: <i>Copyright of Computers & Electronics in Agriculture is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1016/j.compag.2006.06.001
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      – Code: eng
        Text: English
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        PageCount: 14
        StartPage: 130
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        Type: general
      – SubjectFull: Computer vision
        Type: general
      – SubjectFull: Automatic control systems
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      – SubjectFull: Electronic systems
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      – TitleFull: Development of machine vision and laser radar based autonomous vehicle guidance systems for citrus grove navigation
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              M: 09
              Text: Sep2006
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              Y: 2006
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