ETRI Journal

  • 제45권3호
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  • Pages.479-491
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  • 2023
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  • 1225-6463(pISSN)
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  • 2233-7326(eISSN)
한국전자통신연구원 (Electronics and Telecommunications Research Institute)
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Design and experimentation of remote driving system for robotic speed sprayer operating in orchard environment

  • Wonpil, Yu (Artificial Intelligence Research Laboratory, Electronics and Telecommunications Research Institute) ;
  • Soohwan Song (Artificial Intelligence Research Laboratory, Electronics and Telecommunications Research Institute)
  • 투고 : 2022.02.25
  • 심사 : 2022.10.11
  • 발행 : 2023.06.20
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초록

The automation of agricultural machines is an irreversible trend considering the demand for improved productivity and lack of labor in handling agricultural tasks. Unstructured working environments and weather often inhibit a seemingly simple task from being fully autonomously performed. In this context, we propose a remote driving system (RDS) to aid agricultural machines designed to operate autonomously. Particularly, we modify a commercial speed sprayer for orchard environments into a robotic speed sprayer to evaluate the proposed RDS's usability and test three sensor configurations in terms of human performance. Furthermore, we propose a confidence error ellipsebased task performance measure to evaluate human performance. In addition, we present field experimental results describing how the sensor configurations affect human performance. We find that a combination of a semiautonomous line tracking device and a wide-angle camera is the most effective for spraying. Finally, we discuss how to improve the proposed RDS in terms of usability and obtain a more accurate measure of human performance.

키워드

과제정보

This work was supported by Institute of Information & Communications Technology Planning & Evaluation (IITP) grant funded by the Korean government (MSIT) (2018-0-00205, "Development of Core Technology of Robot Task-Intelligence for Improvement of Labor Condition").

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