Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Development of the Path Generation and Control System for Unmanned Weeding Robot in Apple Orchards

사과 과원 무인 제초를 위한 작업 경로 생성 및 경로 제어 시스템 개발

  • Jintack Jeon (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Hoseung Jang (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Changju Yang (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Kyoung-do Kwon (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Youngki Hong (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Gookhwan Kim (Department of Agricultural Engineering, National Institute of Agricultural Sciences)
  • 전진택 ;
  • 장호승 ;
  • 양창주 ;
  • 권경도 ;
  • 홍영기 ;
  • 김국환
  • Received : 2023.10.16
  • Accepted : 2023.11.16
  • Published : 2023.12.01
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Abstract

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.

Keywords

Acknowledgement

본 연구는 농촌진흥청 연구사업(세부 과제 번호: PJ015595012023, 사과 과수원용 지능형 제초기 연구) 지원에 의하여 수행되었음을 밝힙니다.

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