Next Article in Journal
A Distance-Aware Replica Adaptive Data Gathering Protocol for Delay Tolerant Mobile Sensor Networks
Next Article in Special Issue
Methodology for the Regulation of Boom Sprayers Operating in Circular Trajectories
Previous Article in Journal / Special Issue
Determination of Moisture Content in Oil Palm Fruits Using a Five-Port Reflectometer
Sensors 2011, 11(4), 4086-4103; doi:10.3390/s110404086
Article

A New Approach to Visual-Based Sensory System for Navigation into Orange Groves

 and *
Received: 6 February 2011; in revised form: 30 March 2011 / Accepted: 31 March 2011 / Published: 6 April 2011
(This article belongs to the Special Issue Sensors in Agriculture and Forestry)
View Full-Text   |   Download PDF [2597 KB, updated 21 June 2014; original version uploaded 21 June 2014]   |   Browse Figures
Abstract: One of the most important parts of an autonomous robot is to establish the path by which it should navigate in order to successfully achieve its goals. In the case of agricultural robotics, a procedure that determines this desired path can be useful. In this paper, a new virtual sensor is introduced in order to classify the elements of an orange grove. This proposed sensor will be based on a color CCD camera with auto iris lens which is in charge of doing the captures of the real environment and an ensemble of neural networks which processes the capture and differentiates each element of the image. Then, the Hough’s transform and other operations will be applied in order to extract the desired path from the classification performed by the virtual sensory system. With this approach, the robotic system can correct its deviation with respect to the desired path. The results show that the sensory system properly classifies the elements of the grove and can set trajectory of the robot.
Keywords: image sensors; agricultural robotics; outdoor navigation; neural networks; ensembles image sensors; agricultural robotics; outdoor navigation; neural networks; ensembles
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Export to BibTeX |
EndNote


MDPI and ACS Style

Torres-Sospedra, J.; Nebot, P. A New Approach to Visual-Based Sensory System for Navigation into Orange Groves. Sensors 2011, 11, 4086-4103.

AMA Style

Torres-Sospedra J, Nebot P. A New Approach to Visual-Based Sensory System for Navigation into Orange Groves. Sensors. 2011; 11(4):4086-4103.

Chicago/Turabian Style

Torres-Sospedra, Joaquin; Nebot, Patricio. 2011. "A New Approach to Visual-Based Sensory System for Navigation into Orange Groves." Sensors 11, no. 4: 4086-4103.


Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert