Plant Protection Robot Row-type Guidance Technique Based on Laser Radar

DOI

10.2991/icsma-16.2016.106How to use a DOI?

Keywords

Row-type guidance, Laser radar, Plant protection robot.

Abstract

The research objective was to achieve local path planning of plant protection robot in row-type plants like vineyard. To acquire the robot pose (yaw angle and lateral offset) in row-type plants, laser radar was used as a single sensor to detect the row-type plants information, fitted row boundary line and center line. With the aid of MATLAB simulation, algorithm feasibility was gotten verified. The results show the lateral offset error is in mm level and yaw angle is in minute level. The distance error calibration experiment was also implemented by means of a wall, and the result shows the maximum error is 16.6mm. Both of them meet demands for row-type guidance technique.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Yongze Zhang
AU  - Changsheng Ai
AU  - Delin Wu
AU  - Linhao Yang
AU  - Wei Zhang
PY  - 2016/12
DA  - 2016/12
TI  - Plant Protection Robot Row-type Guidance Technique Based on Laser Radar
BT  - Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)
PB  - Atlantis Press
SP  - 618
EP  - 622
SN  - 1951-6851
UR  - https://doi.org/10.2991/icsma-16.2016.106
DO  - 10.2991/icsma-16.2016.106
ID  - Zhang2016/12
ER  -