Evaluation of laser range-finder mapping for agricultural spraying vehicles

Moreno, Francisco-Angel and Cielniak, Grzegorz and Duckett, Tom (2013) Evaluation of laser range-finder mapping for agricultural spraying vehicles. In: Towards Autonomous Robotic Systems, 28 and 29 August 2013, Oxford, UK.

Full content URL: http://dx.doi.org/10.1007/978-3-662-43645-5_22

Documents
moreno13taros.pdf
[img]
[Download]
[img]
Preview
PDF
moreno13taros.pdf - Whole Document

31MB
Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

In this paper, we present a new application of laser range-finder sensing to agricultural spraying vehicles. The current generation of spraying vehicles use automatic controllers to maintain the height of the sprayer booms above the crop.
However, these control systems are typically based on ultrasonic sensors mounted on the booms, which limits the accuracy of the measurements and the response of the controller to changes in the terrain, resulting in a sub-optimal spraying process. To overcome these limitations, we propose to use a laser scanner, attached to the front of the sprayer's cabin, to scan the ground surface in front of the vehicle and to build a scrolling 3d map of the terrain. We evaluate the proposed solution in a series of field tests, demonstrating that the approach provides a more detailed and accurate representation of the environment than the current sonar-based solution, and which can lead to the development of more efficient boom control systems.

Keywords:agri-robotics, 3d terrain reconstruction, outdoor mapping
Subjects:G Mathematical and Computer Sciences > G400 Computer Science
Divisions:College of Science > School of Computer Science
ID Code:11330
Deposited On:25 Jul 2013 15:35

Repository Staff Only: item control page