Agricultural Robot Turning in the Headland of Corn Fields
This article discusses the development of variable field of view (FOV) of camera to realize headland turning of an agricultural robot in corn fields. The variable FOV of camera was implemented to change direction of view of camera by two DC motors rotating separately in vertical and horizontal planes. Headland turning is executed in six steps: end of row detection and guidance, going blind for a distance, first 90˚ turning, position calculation, backing control, second 90˚ turning. Mathematically morphological operations were chosen to segment crops, and fuzzy logic control was applied to guide the robot. Three repetition tests were conducted to perform the headland turning. A maximum error of 17.4mm when using the lateral view and good headland turning operation were observed. It was successful for variable FOV to implement headland turning of the agricultural robot in corn fields.
Helen Zhang and David Jin
J. L. Xue and T. E. Grift, "Agricultural Robot Turning in the Headland of Corn Fields", Applied Mechanics and Materials, Vols. 63-64, pp. 780-784, 2011