Vision-based guidance control scheme for autonomous navigation of 4WDS agricultural vehicle in a narrow space environment

in International Symposium (oral presentation paper), 國際研討會(全文口頭發表)
標題Vision-based guidance control scheme for autonomous navigation of 4WDS agricultural vehicle in a narrow space environment
出版類型國際研討會(全文口頭發表)
出版年度2017
AuthorsChung-Liang Chang, 張仲良, & Gong-Bo Song 宋公博
出版日期Jul 16 2017 12:0
會議地點Spokane, Washington
其他編號0000
中文摘要

This paper proposes a feature-based tracking scheme based on machine vision for use in four-wheel
drive/steering (4WDS) agricultural vehicle navigation. The fusion of vehicle attitude information and an image
extraction technique is utilized to estimate the center of gravity of crops and the heading of a vehicle. Meanwhile, the
steering angle and velocity of each wheel of the vehicle are regulated through fuzzy logic and a proportional-integralderivative (PID) control method in order to achieve crop row navigation in a narrow space environment. Experiments
have demonstrated the effectiveness and practicality of this proposed scheme.

網址https://elibrary.asabe.org/abstract.asp?aid=47920
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