Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots

Detalhes bibliográficos
Autor(a) principal: Ramos, Anderson Rocha
Data de Publicação: 2019
Outros Autores: Gaspar, Pedro Dinis
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.6/7515
Resumo: Machine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.
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spelling Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robotsAgricultural mobile robotImage processingPath recognitionHough transformMachine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.This study is within the activities of project PrunusBot - Sistema robótico aéreo autónomo de pulverização controlada e previsão de produção frutícola (autonomous unmanned aerial robotic system for controlled spraying and prediction of fruit production), Operation n.º PDR2020-101-031358 (líder), Consortium n.º 340, Initiative n.º 140 promoted by PDR2020 and co-financed by FEADER under the Portugal 2020 initiative.21st International Conference on Agricultural Robotics, Automation and Control (ICARAC 2019),uBibliorumRamos, Anderson RochaGaspar, Pedro Dinis2019-11-05T16:26:15Z20192019-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.6/7515eng0000000091950263info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-12-15T09:46:57Zoai:ubibliorum.ubi.pt:10400.6/7515Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:48:01.117202Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
title Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
spellingShingle Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
Ramos, Anderson Rocha
Agricultural mobile robot
Image processing
Path recognition
Hough transform
title_short Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
title_full Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
title_fullStr Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
title_full_unstemmed Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
title_sort Algorithm for path recognition in-between tree rows for agricultural wheeled-mobile robots
author Ramos, Anderson Rocha
author_facet Ramos, Anderson Rocha
Gaspar, Pedro Dinis
author_role author
author2 Gaspar, Pedro Dinis
author2_role author
dc.contributor.none.fl_str_mv uBibliorum
dc.contributor.author.fl_str_mv Ramos, Anderson Rocha
Gaspar, Pedro Dinis
dc.subject.por.fl_str_mv Agricultural mobile robot
Image processing
Path recognition
Hough transform
topic Agricultural mobile robot
Image processing
Path recognition
Hough transform
description Machine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.
publishDate 2019
dc.date.none.fl_str_mv 2019-11-05T16:26:15Z
2019
2019-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.6/7515
url http://hdl.handle.net/10400.6/7515
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 0000000091950263
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv 21st International Conference on Agricultural Robotics, Automation and Control (ICARAC 2019),
publisher.none.fl_str_mv 21st International Conference on Agricultural Robotics, Automation and Control (ICARAC 2019),
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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