Predictive tracking and control method for vision-guided navigation of agricultural robot

Zhou Jun; Liu Chengliang; Ji Changying

Volume 20 Issue 6

Nov. 2004

Turn off MathJax

Article Contents

Abstract

Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE) > 2004 > 20(6): 106-110.

Zhou Jun, Liu Chengliang, Ji Changying. Predictive tracking and control method for vision-guided navigation of agricultural robot[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2004, 20(6): 106-110.

Citation:

PDF (213 KB)

Predictive tracking and control method for vision-guided navigation of agricultural robot

More Information

Received Date: September 08, 2002
Revised Date: May 27, 2004
Published Date: November 29, 2004

Graphical Abstract

Abstract

Abstract

To avoid the unfavorable working conditions and guarantee the sustainability of agriculture, it is widely thought that the wheeled mobile robot guided by machine vision, substituting for conventional tractors in some farming activities, will play an important role in the future. The time lag, however, produced mainly by robot vision system and the other signal processing will exert some negative effects on the autonomous navigation of the wheeled mobile robot. Based on Kalman filtering, the measurements of all sensors were fused and a predictive control method was developed skillfully to overcome it. Then the kinematical behavior of the wheeled mobile robot was analyzed in detail, and the corresponding nonlinear stochastic model equation and the observation equation were set up respectively. Both the simulation and the initial experiment show that this method is effective for the visual navigation of the wheeled mobile robot in the field.
- agricultural robot,
- vision-guided navigation,
- Kalman filtering,
- machine vision

FullText(HTML)

References (0)

[1]	Zhai Zhiqiang, Xiong Kun, Wang Liang, Du Yuefeng, Zhu Zhongxiang, Mao Enrong. Crop row detection and tracking based on binocular vision and adaptive Kalman filter[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2022, 38(8): 143-151. DOI: 10.11975/j.issn.1002-6819.2022.08.017
[2]	Wen Tao, Hong Tiansheng, Li Lijun, Zhang Nanfeng, Li Zhen, Guo Xin. Moving trace optimization tracking for adult of Bactrocera Dorsalis (Hendel) based on Kalman filter algorithm[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2014, 30(15): 197-205. DOI: 10.3969/j.issn.1002-6819.2014.15.026
[3]	Li Mingxuan, Zhang Man, Meng Qingkuan, Liu Gang. Rapid detection of navigation baseline for farm machinery based on scan-filter algorithm[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2013, 29(1): 41-47.
[4]	Chen Yan, Zhang Man, Ma Wenqiang, Liu Zhaoxiang, Ji Ying. Positioning method of integrated navigation based on GPS and machine vision[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2011, 27(3): 126-130.
[5]	Zhou Jun, Zhang Peng, Liu Chengliang. Kalman filtering for integrated navigation based on time series analysis[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2010, 26(12): 254-258.
[6]	An Qiu, Li Zhichen, Ji Changying, Zhou Jun. Agricultural robot vision navigation algorithm based on illumination invariant image[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2009, 25(11): 208-212.
[7]	Yang Weimin, Li Tianshi, Jia Hongshe. Simulation and experiment of machine vision guidance of agriculture vehicles[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2004, 20(1): 160-165.
[8]	Zhou Jun, Ji Changying. Road recognition for agricultural robot guided by machine vision[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2003, 19(6): 101-105.
[9]	Xu Fang, Zhang Libin, Ji Shiming, Wan Yuehua, Zhang Xian, Zhang Li. Advances in Realization and Application of Vision Sensing System of Agricultural Robot[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2002, 18(4): 180-184.
[10]	Wang Rongben, Ji Shouwen, Chu Xiumin, Wang Zhizhong. General Design for Corn Fertilizing Intelligent Machine Vehicle System Based on Machine Vision[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2001, 17(2): 151-153.