Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
권호 표지

Autonomous Tractor for Tillage Operation Using Machine Vision and Fuzzy Logic Control

기계시각과 퍼지 제어를 이용한 경운작업 트랙터의 자율주행

  • 조성인 (서울대학교 농업생명과학대학 생물자원공학부) ;
  • 최낙진 (서울대학교 농업생명과학대학 생물자원공학부) ;
  • 강인성 (서울대학교 농업생명과학대학 생물자원공학부)
  • Published : 2000.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

Autonomous farm operation needs to be developed for safety, labor shortage problem, health etc. In this research, an autonomous tractor for tillage was investigated using machine vision and a fuzzy logic controller(FLC). Tractor heading and offset were determined by image processing and a geomagnetic sensor. The FLC took the tractor heading and offset as inputs and generated the steering angle for tractor guidance as output. A color CCD camera was used fro the image processing . The heading and offset were obtained using Hough transform of the G-value color images. 15 fuzzy rules were used for inferencing the tractor steering angle. The tractor was tested in the file and it was proved that the tillage operation could be done autonomously within 20 cm deviation with the machine vision and the FLC.

Keywords

References

  1. Proceedings of the International Conference for gricultural Machinery & Process Engineering Crop-row detection by colour line sensor. Hata, S.;Takai, M.;Kobayashi, T.;Sakai, K.
  2. IEEE Trans. on Vehicular Tech. v.40 no.3 Visual Control of an Autonomous Vehicle(BART) - The Vehicle - Following Problem. Kehtarnavaz, M.;Griswold, N. C.
  3. Proceedings of XII world Congress on Agricultural Engineering, International Commission of Agricultural Engineering CIGR Guidance Systems for Agricultural Vehicles. Klassen N. D.;Wilson R. J.;Wilson J. N.
  4. ASAE no.943513 Development of An Intelligent Steering Control Algorithm for Vision-Based Agricultural Vehicle Guidance Li, Y.;Wilson, J. N.
  5. ASAE no.943608 Simulation Study of A Vision-Based Agricultural Vehicle Guidance System. Li, Y.;Wilson, J. N.
  6. ASAE no.933091 Studies on Autonomous Vehicles for Agricultural Robotics Toda, M.;Kitani, O.;Okamoto, T.;Tori, T.