Plant Protection Robot Row-type Guidance Technique Based on Laser Radar
Authors
Yongze Zhang, Changsheng Ai, Delin Wu, Linhao Yang, Wei Zhang
Corresponding Author
Yongze Zhang
Available Online December 2016.
- 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/).
Cite this article
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 -