Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskning

Resumé

This paper presents a real-time localization system for an autonomous vehicle passing through 0.25 m wide crop rows at 6 km/h. Localization is achieved by fusion of mea-surements from a row guidance sensor and a GPS receiver. Conventional agricultural practice applies inputs such as herbicide at a constant rate ignoring the spatial variability in weed, soil, and crop. Sensing with a guided vehicle allow cost effective mapping of field variability and inputs may be adjusted accordingly. Essential to such a vehicle is real-time localization. GPS allow precise absolute sensing but it is not practical to guide the vehicle relative to the crop rows on an absolute coordinate. A row guidance sensor is therefore included to sense the position relative to the rows. The vehicle path in the field is re-planned online in order to allow for crop row irregularities sensed by the row sensor. The path generation is thus controlled by location relative to the local field while the actual path execution is carried out in absolute GPS coordinates. The solution is a system that fuse data from a relative and an absolute measurement system while ensuring accurate row operation at high work rates.
OriginalsprogDansk
TitelON GPS 2001: September 11-14, 2001, Salt Lake City, Utah
Publikationsdato2001
StatusUdgivet - 2001
BegivenhedVision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops -
Varighed: 19 maj 2010 → …

Konference

KonferenceVision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops
Periode19/05/2010 → …

Citer dette

Bak, T. (2001). Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops. I ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah
Bak, Thomas. / Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops. ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah. 2001.
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title = "Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops",
abstract = "This paper presents a real-time localization system for an autonomous vehicle passing through 0.25 m wide crop rows at 6 km/h. Localization is achieved by fusion of mea-surements from a row guidance sensor and a GPS receiver. Conventional agricultural practice applies inputs such as herbicide at a constant rate ignoring the spatial variability in weed, soil, and crop. Sensing with a guided vehicle allow cost effective mapping of field variability and inputs may be adjusted accordingly. Essential to such a vehicle is real-time localization. GPS allow precise absolute sensing but it is not practical to guide the vehicle relative to the crop rows on an absolute coordinate. A row guidance sensor is therefore included to sense the position relative to the rows. The vehicle path in the field is re-planned online in order to allow for crop row irregularities sensed by the row sensor. The path generation is thus controlled by location relative to the local field while the actual path execution is carried out in absolute GPS coordinates. The solution is a system that fuse data from a relative and an absolute measurement system while ensuring accurate row operation at high work rates.",
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booktitle = "ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah",

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Bak, T 2001, Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops. i ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah. Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops, 19/05/2010.

Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops. / Bak, Thomas.

ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah. 2001.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskning

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AB - This paper presents a real-time localization system for an autonomous vehicle passing through 0.25 m wide crop rows at 6 km/h. Localization is achieved by fusion of mea-surements from a row guidance sensor and a GPS receiver. Conventional agricultural practice applies inputs such as herbicide at a constant rate ignoring the spatial variability in weed, soil, and crop. Sensing with a guided vehicle allow cost effective mapping of field variability and inputs may be adjusted accordingly. Essential to such a vehicle is real-time localization. GPS allow precise absolute sensing but it is not practical to guide the vehicle relative to the crop rows on an absolute coordinate. A row guidance sensor is therefore included to sense the position relative to the rows. The vehicle path in the field is re-planned online in order to allow for crop row irregularities sensed by the row sensor. The path generation is thus controlled by location relative to the local field while the actual path execution is carried out in absolute GPS coordinates. The solution is a system that fuse data from a relative and an absolute measurement system while ensuring accurate row operation at high work rates.

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BT - ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah

ER -

Bak T. Vision-GPS Fusion for Guidance of an Autonomous Vehicle in Row Crops. I ON GPS 2001: September 11-14, 2001, Salt Lake City, Utah. 2001