Abstract
Abstract. This article presents an accurate driving algorithm for autonomous greenhouse sprayer navigation. Due to the geological complexity of ground inside the greenhouse, the sprayer requires a stable driving algorithm under non-uniformal road conditions. We designed a body frame with an optimal size for the narrow aisle in a greenhouse. The driving algorithm was carried by an automatic turning algorithm under no-rail circumstance to maximize the utilization of a greenhouse space. Also, in order to segregate the turning algorithm and the straight path navigation, a photo sensor was additionally installed on the vehicle to detect the beginning of a turning area. The driving algorithm consisted of two kinds of autonomous procedures, which are the guidance rail tracking and the turning without any rail. The experimental results proved a driving function with an optimal turning radius, and a stable tracking performance on an unpaved clay road. It confirmed an increased slip rate of the vehicle’s wheel on the off-road situations, under the influence of a reduced rail width and an increased driving speed. Despite the severe driving conditions, the autonomous sprayer’s driving motion proved a stable tracking performance.
Published Version
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