Abstract
Most of the relevant technology related to precision agriculture is currently controlled by Global Positioning Systems (GPS) and uploaded map data; however, in sensitive areas with young or expensive plants, small robots are becoming more widely used in exclusive work. These robots must follow the plant lines with centimeter precision to protect plant growth. For cases in which GPS fails, a camera-based solution is often used for navigation because of the system cost and simplicity. The low-cost plant camera presented here generates images in which plants are contrasted against the soil, thus enabling the use of simple cross-correlation functions to establish high-resolution navigation control in the centimeter range. Based on the foresight provided by images from in front of the vehicle, robust vehicle control can be established without any dead time; as a result, off-loading the main robot control and overshooting can be avoided.
Highlights
In the field of agricultural research, precision farming and bio-farming agricultural robots are becoming more important because of the growing availability of robots as well as new and alternative applications that robots can provide or will provide in the near future
The typical drilling distance for wheat is 16 cm in Germany; navigation precision must be in the centimeter range, which can be accomplished with a vision-based system [2,3,4]
Standard Global Positioning System (GPS) approaches often fail to produce high resolution over the entire field because when a satellite is hidden by an obstacle, such as a tree, hill, building, or the horizon, the resolution of the calculated position jumps to the meter range
Summary
In the field of agricultural research, precision farming and bio-farming agricultural robots are becoming more important because of the growing availability of robots as well as new and alternative applications that robots can provide or will provide in the near future. These alternative applications include testing and measurement applications, and research has focused on the placement of small chemical or insect bombs at precise infield positions for pest control. A meter-scale grid is sufficient for large agricultural machines but not for small field robots
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