Autonomous Field Robotic Vehicle with Embedded Multi-Sensor System for Agricultural Applications

C-L. Chang, B-H. Wu, C-C. Chang

Abstract:	This paper proposes the design and construction of an intelligence vehicle capable of mining, navigation positioning, and avoiding obstacle. The multiple sensor modules and micro-controller with data fusion technique are integrated in order to guarantee the autonomy of vehicle. In vehicle design, this paper presents a vehicle equipped with three wheels and driven by front-wheels whose speed difference changes the moving direction of vehicle. Regarding the choice of sensor module, the system adopts ultrasonic transducers and infrared proximity sensors to detect the distance between obstacle and vehicle to avoid collision and maintain fixed distance. The positioning estimator utilizes electronic compass, gyroscope, odometry, and accelerometer and combines GPS module to navigate safely. Color sensor is used for exploration. The data fusion method is accomplished through programmable logic decision technique and implemented on micro-controller board. The proposed prototype vehicle is experimented on outdoor onion fields. Firstly, under sole adoption of GPS module, the system can initially estimate the absolute position of vehicle. Then, the system can determine its relative position through combination with navigator. During the moving process of vehicle, the vehicle can smoothly move on onion fields without collision using the proposed sensing system onboard, obstacle detection and mining system. This technique can be applied to precise agriculture in the future.
Published in:	Proceedings of the 2011 International Technical Meeting of The Institute of Navigation January 24 - 26, 2011 Catamaran Resort Hotel San Diego, CA
Pages:	1077 - 1084
Cite this article:	Chang, C-L., Wu, B-H., Chang, C-C., "Autonomous Field Robotic Vehicle with Embedded Multi-Sensor System for Agricultural Applications," Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 1077-1084.
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