Autonomous SpeedSprayer Using Machine Vision and Fuzzy Logic (II) -Real Operation-

기계시각과 퍼지논리를 이용한 스피드스프레이어의 자율주행(II) -실제 주행-

Autonomous speedsprayer operation was conducted using the developed FLC(Fuzzy Logic Controller). Orchard image 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, direction of running and distance from obstacles. The operation time of 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.