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Sensors 2016, 16(3), 276; doi:10.3390/s16030276

Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

Center for Automation and Robotics, CSIC-UPM, Arganda del Rey, Madrid 28500, Spain
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Author to whom correspondence should be addressed.
Academic Editor: Gonzalo Pajares Martinsanz
Received: 21 December 2015 / Revised: 11 February 2016 / Accepted: 19 February 2016 / Published: 24 February 2016
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2015)
View Full-Text   |   Download PDF [10009 KB, uploaded 24 February 2016]   |  

Abstract

The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them. View Full-Text
Keywords: generation of autonomous behaviour; crop inspection; visual servoing; fuzzy control; precision agriculture; GPS generation of autonomous behaviour; crop inspection; visual servoing; fuzzy control; precision agriculture; GPS
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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. (CC BY 4.0).

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MDPI and ACS Style

Bengochea-Guevara, J.M.; Conesa-Muñoz, J.; Andújar, D.; Ribeiro, A. Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot. Sensors 2016, 16, 276.

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