Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment
To address the problems of inefficient agricultural production and labor shortages, there has been active research to develop autonomously driven agricultural machines, using advanced sensors and ICT technology. Autonomously driven speed sprayers can also reduce accidents such as the pesticide poiso...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/1/114 |
| _version_ | 1797497628099870720 |
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| author | Joong-hee Han Chi-ho Park Young Yoon Jang Ja Duck Gu Chan Young Kim |
| author_facet | Joong-hee Han Chi-ho Park Young Yoon Jang Ja Duck Gu Chan Young Kim |
| author_sort | Joong-hee Han |
| collection | DOAJ |
| description | To address the problems of inefficient agricultural production and labor shortages, there has been active research to develop autonomously driven agricultural machines, using advanced sensors and ICT technology. Autonomously driven speed sprayers can also reduce accidents such as the pesticide poisoning of farmers, and vehicle overturn that frequently occur during spraying work in orchards. To develop a commercial, autonomously driven speed sprayer, we developed a prototype of an autonomously driven agricultural vehicle, and conducted performance evaluations in an orchard environment. A prototype of the agricultural vehicle was created using a rubber-tracked vehicle equipped with two AC motors. A prototype of the autonomous driving hardware consisted of a GNSS module, a motion sensor, an embedded board, and an LTE module, and it was made for less than $1000. Additional software, including a sensor fusion algorithm for positioning and a path-tracking algorithm for autonomous driving, were implemented. Then, the performance of the autonomous driving agricultural vehicle was evaluated based on two trajectories in an apple farm. The results of the field test determined the RMS, and the maximums of the path-following errors were 0.10 m, 0.34 m, respectively. |
| first_indexed | 2024-03-10T03:21:58Z |
| format | Article |
| id | doaj.art-4a8d3c2b4fe54cf582b46534672da35b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:21:58Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-4a8d3c2b4fe54cf582b46534672da35b2023-11-23T12:17:04ZengMDPI AGSensors1424-82202021-12-0122111410.3390/s22010114Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard EnvironmentJoong-hee Han0Chi-ho Park1Young Yoon Jang2Ja Duck Gu3Chan Young Kim4Division of Electronics & Information System, DGIST (Daegu Gyeongbuk Institute of Science and Technology), Daegu 42988, KoreaDivision of Electronics & Information System, DGIST (Daegu Gyeongbuk Institute of Science and Technology), Daegu 42988, KoreaSungboo IND Ltd., Chilgok 39909, KoreaH&I (Human & Information), Uiwang 16009, KoreaH&I (Human & Information), Uiwang 16009, KoreaTo address the problems of inefficient agricultural production and labor shortages, there has been active research to develop autonomously driven agricultural machines, using advanced sensors and ICT technology. Autonomously driven speed sprayers can also reduce accidents such as the pesticide poisoning of farmers, and vehicle overturn that frequently occur during spraying work in orchards. To develop a commercial, autonomously driven speed sprayer, we developed a prototype of an autonomously driven agricultural vehicle, and conducted performance evaluations in an orchard environment. A prototype of the agricultural vehicle was created using a rubber-tracked vehicle equipped with two AC motors. A prototype of the autonomous driving hardware consisted of a GNSS module, a motion sensor, an embedded board, and an LTE module, and it was made for less than $1000. Additional software, including a sensor fusion algorithm for positioning and a path-tracking algorithm for autonomous driving, were implemented. Then, the performance of the autonomous driving agricultural vehicle was evaluated based on two trajectories in an apple farm. The results of the field test determined the RMS, and the maximums of the path-following errors were 0.10 m, 0.34 m, respectively.https://www.mdpi.com/1424-8220/22/1/114autonomous drivingagricultural vehiclesensor fusionGNSSmotion sensor |
| spellingShingle | Joong-hee Han Chi-ho Park Young Yoon Jang Ja Duck Gu Chan Young Kim Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment Sensors autonomous driving agricultural vehicle sensor fusion GNSS motion sensor |
| title | Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment |
| title_full | Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment |
| title_fullStr | Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment |
| title_full_unstemmed | Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment |
| title_short | Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment |
| title_sort | performance evaluation of an autonomously driven agricultural vehicle in an orchard environment |
| topic | autonomous driving agricultural vehicle sensor fusion GNSS motion sensor |
| url | https://www.mdpi.com/1424-8220/22/1/114 |
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