Abstract
PurposeThe purpose of this paper is to develop a methodology for detecting tree trunks for autonomous agricultural applications performed using mobile robots.Design/methodology/approachThe system is constructed by following the principles of Voronoi diagram method which is one of the machine learning algorithms used by the robotics, mechatronics and automation researchers.FindingsTo analyze the accuracy and performance and to make verification and evaluation, both simulation and experimental studies are conducted. The results indicate that the tree trunk detection system developed using Voronoi diagram method can be able to detect tree trunks with high precision.Originality/valueA novel solution technique to detect tree trunks is proposed. The adaptation of Voronoi diagram method in an agricultural (orchard) task is presented.
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