Desenvolvimento de um sistema para navegação de robôs móveis por caminhos em plantações

• Autor(a) principal: Jodas, Danilo Samuel [UNESP]
• Data de Publicação: 2013
• Outros Autores: Marranghello, Norian [UNESP], Pereira, Aledir Silveira [UNESP], Guido, Rodrigo Capobianco [UNESP]
• Tipo de documento: Artigo
• Idioma: por
• Título da fonte: Repositório Institucional da UNESP
• Texto Completo: http://fmpfm.edu.br/intercienciaesociedade/colecao/online/vol2_n1_on_line.html; http://hdl.handle.net/11449/122644
• topic: robótica móvel; processamento de imagens; redes neurais artificiais; máquinas de vetores de suporte; mobile robotics, image processing, artificial neural network, support vector machine

The use of mobile robots in the agriculture turns out to be interesting in tasks of cultivation and application of pesticides in minute quantities to reduce environmental pollution. In this paper we present the development of a system to control an autonomous mobile robot navigation through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features, and then submitting such characteristic features to a support vector machine to find out the most appropriate route. As the overall goal of the project to which this work is connected is the robot control in real time, the system will be embedded onto a hardware platform. However, in this paper we report the software implementation of a support vector machine, which so far presented around 93% accuracy in predicting the appropriate route.