Browse > Article
http://dx.doi.org/10.14372/IEMEK.2020.15.6.269

Development of Unmanned Driving Technologies for Speed Sprayer in Orchard Environment  

Li, Song (ETRI)
Kang, Dongyeop (ETRI)
Lee, Hae-min (ETRI)
An, Su-yong (ETRI)
Kwon, Wookyong (ETRI)
Chung, Yunsu (ETRI)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.15, no.6, 2020 , pp. 269-279 More about this Journal
Abstract
This paper presents the design and implementation of embedded systems and autonomous path generation for autonomous speed sprayer. Autonomous Orchard Systems can be divided into embedded controller and path generation module. Embedded controller receives analog sensor data, on/off switch data and control linear actuator, break, clutch and steering module. In path generation part, we get 3D cloud point using Velodyne VLP16 LIDAR sensor and process the point cloud to generate maps, do localization, generate driving path. Then, it finally generates velocity and rotation angle in real time, and sends the data to embedded controller. Embedded controller controls steering wheel based on the received data. The developed autonomous speed sprayer is verified in test-bed with apple tree-shaped artworks.
Keywords
Autonomous Sprayer; Orchard Sprayer; Embedded control systems;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Benjamin Cates, "A Study to Consider the Specification of Posture Sensor for Autonomous Tractor," The korean society of machanical engineers conference, 2018.
2 Mai, X, Zhang, H, Jia, X., Meng, M. Q. H. "Faster R-CNN With Classifier Fusion for Automatic Detection of Small Fruits," IEEE Transactions on Automation Science and Engineering, 2020.
3 D.K. Giles, M.J. Delwiche, R.B. Dodd, "Control of Orchard Spraying Based on Electronic Sensing of Target Characteristics," Transactions of the ASAE, Vol. 30, No. 6, pp. 1624-1636, 1987.   DOI
4 G.D. Hong, J. Park, "Novel Embedded OS for Soccer Robot System," IEMEK J. Embed. Sys. Appl., Vol. 1, No. 1, pp. 1-12, 2004 (in Korean).
5 J Llorens, E Gil, J Llop, "Ultrasonic and LIDAR Sensors for Electronic Canopy Characterization in Vineyards: Advances to Improve Pesticide Application Methods," Sensors, Vol. 11, No. 2, pp. 2177-2194, 2011.   DOI
6 B. Boyd, A. John, V.H. Mellencamp, Handbook of Embedded Control Systems, SIAM, Philadelphia, 2005.
7 J. Park, P. Kim, "Implementation of Embedded Software for Mobile Robot," Proceedings of 3rd Asian Embedded Systems Conference, Vol. 2, pp. 100-105, 2006.
8 A Segal, D Haehnel, S Thrun, "Generalized-icp," Robotics: science and systems, Vol. 2, No. 4, pp. 435, 2009.
9 J Weingarten, R Siegwart, "EKF-based 3D SLAM for Structured Environment Reconstruction," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2005.
10 A. Asvadi, C Premebida, P Peixoto, U Nunes, "3D Lidar-based Static and Moving Obstacle Detection in Driving Environments: An Approach Based on Voxels and Multi-region Ground Planes," Robotics and Autonomous Systems Vol. 83, pp. 299-311, 2016.   DOI
11 Berenstein. R, Y. Edan, "Automatic Adjustable Spraying Device for Site-specific Agricultural Application," IEEE Transactions on Automation Science and Engineering, Vol. 15, No. 2, 641-650, 2017.   DOI
12 D Bradley, G Roth, "Adaptive Thresholding Using the Integral Image," Journal of graphics tools Vol. 12, No. 2, pp. 13-21, 2007   DOI
13 I Afanasyev, A Sagitov, E Magid, "ROS-based SLAM for a Gazebo-simulated Mobile Robot in Image-based 3D Model of Indoor Environment," International Conference on Advanced Concepts for Intelligent Vision Systems, pp. 273-283, 2015.
14 FS.G. Vougioukas, "Agricultural Robotics," Annual Review of Control, Robotics, and Autonomous Systems Vol. 2, pp. 365-392, 2019.   DOI
15 M. Gang, H.J. Kim, C.W. Jeon, C. Yun, "Preliminary Study on Development of Path Generation and Tracking Algorithms for Autonomous Rice Transplant," Proceedings of Agricultural Machinery, Vol. 24, No. 2, pp. 27-27, 2019 (in Korean).