Staff Publications

Staff Publications

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    'Staff publications' is the digital repository of Wageningen University & Research

    'Staff publications' contains references to publications authored by Wageningen University staff from 1976 onward.

    Publications authored by the staff of the Research Institutes are available from 1995 onwards.

    Full text documents are added when available. The database is updated daily and currently holds about 240,000 items, of which 72,000 in open access.

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Record number 408492
Title Autonomous navigation using a robot platform in a sugar beet field
Author(s) Bakker, T.; Asselt, C.J. van; Bontsema, J.; Müller, J.; Straten, G. van
Source Biosystems Engineering 109 (2011)4. - ISSN 1537-5110 - p. 357 - 368.
Department(s) Systems and Control Group
WUR GTB Tuinbouw Technologie
ATV Farm Technology
Publication type Refereed Article in a scientific journal
Publication year 2011
Keyword(s) mechanical weed-control - vehicles - vision - system - crops
Abstract An RTK-DGPS (Real Time Kinematic Differential Global Positioning System) based autonomous field navigation system including automated headland turns was developed to provide a method for crop row mapping combining machine vision, and to evaluate the benefits of a behaviour based reactive layer in a hybrid deliberate systems architecture. Two experiments were performed at the same time: following of pre-planned paths reconstructed from crop row positions based on RTK-DGPS and crop row mapping by combining vision-based row detection with RTK-DGPS information. The standard deviation, mean, minimum and maximum lateral error of the robot vehicle while following a straight path on the field with RTK-DGPS at a speed of 0.3 m s-1 were respectively 1.6, 0.1, -4.5 and 3.4 cm. The standard deviation, mean, minimum and maximum of the heading error were 0.008, 0.000, -0.022 and 0.023 rad. The point-in-polygon algorithm proved to be a suitable method for detection in which part of the field the actuator position coordinates or the field of view of the camera are located. A smooth headland path that connected to the subsequent path along the crop was generated in realtime using a spline based algorithm. The hybrid deliberate software architecture with a behaviour based reactive layer allowed a convenient evaluation of the robot performance. Results from the field experiments showed that the implement can be guided along a defined path with cm precision using an autonomous robot navigating in a field.
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