Evaluation of laser range-finder mapping for agricultural spraying vehicles

Moreno, Francisco-Angel, Cielniak, Grzegorz and Duckett, Tom (2014) Evaluation of laser range-finder mapping for agricultural spraying vehicles. In: Towards autonomous robotic systems. Lecture Notes in Computer Science, 8069 . Springer Berlin Heidelberg, pp. 210-221. ISBN 9783662436448, 9783662436455

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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.

Additional Information:14th Annual Conference, TAROS 2013, Oxford, UK, August 28--30, 2013, Revised Selected Papers
Keywords:Agri-robotics, 3d terrain reconstruction, Outdoor mapping
Subjects:H Engineering > H670 Robotics and Cybernetics
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:19647
Deposited On:20 Nov 2015 17:03

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