1A1-B02 Image-based Adaptive Control of Orchard Traveling UGV with a Central Catadioptric Camera(Robotics and Mechatronics in Agriculture)

Abstract

The number of farmers is decreasing and the average age is increasing. The development of autonomous vehicles in an orchard is required because an orchard is usually on a hill or mountain where it is very tough for farmers to work. In this research a new control method is proposed for an unmanned ground vehicle (UGV) by using image-based control with a central catadioptric camera. A central catadioptric camera is very effective since it can make a target keep in the field of vision of camera. The effectiveness of our proposed method is confirmed by experiments.