Autonomous SpeedSprayer Using Fuzzy Control

Autonomous speedsprayer operation in an orchard was conducted using a fuzzy logic controller (FLC). Orchard image analysis and signals of ultrasonic sensors were processed in real time. The speedsprayer was modified to be steered by two hydraulic cylinders. The FLC has two inputs of direction of running and distance from obstacles. Operation time of the hydraulic cylinders were inferred as output of the FLC. Field test results showed that the speedsprayer could be autonomously operated by the FLC along with the image processing and the ultrasonic sensors. The ultrasonic sensors didn't contribute to the improvement of guidance performance, but the speedsprayer could avoid trees or obstacles in emergent situations with them.