Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Traveling Performance of a Robot Platform for Unmanned Weeding in a Dry Field

벼농사용 무인 제초로봇의 건답환경 주행 성능

  • Kim, Gook-Hwan (Department of Agriculture Engineering, National Academy of Agricultural Science, RDA) ;
  • Kim, Sang-Cheol (Department of Agriculture Engineering, National Academy of Agricultural Science, RDA) ;
  • Hong, Young-Ki (Department of Agriculture Engineering, National Academy of Agricultural Science, RDA)
  • 김국환 (농촌진흥청 국립농업과학원 농업공학부) ;
  • 김상철 (농촌진흥청 국립농업과학원 농업공학부) ;
  • 홍영기 (농촌진흥청 국립농업과학원 농업공학부)
  • Received : 2013.08.06
  • Accepted : 2013.12.11
  • Published : 2014.01.01
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Abstract

This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column.

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References

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