Automatic steering control of plantation tractor based on image processing

Zoltan Lang

doi:10.1117/12.336886

14 January 1999 Automatic steering control of plantation tractor based on image processing

Zoltan Lang

Proceedings Volume 3543, Precision Agriculture and Biological Quality; (1999) https://doi.org/10.1117/12.336886
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

The driving by man in a straight line and turning at the end of the row of the plantation demands high concentration which may limit the possible speed of the vehicle. With automatic steering control working speed can be increased and there is no health when working with chemicals. The necessary input information for the automatic steering can be taken from the natural surrounding. In the plantations the stems of the plants are the most characteristic objects, the bottom of the stems appear in a straight line. The equation of such a line is not influenced by the distance between the stems. In the project described in this paper, a CCD camera mounted on the front of a model tractor takes pictures from one side of the plantation row. Evaluating the images in real time the necessary intervention for keeping the vehicle in straight line can be calculated. The basic equations for steering control and the first image processing experiences are presented.

Citation Download Citation

Zoltan Lang "Automatic steering control of plantation tractor based on image processing", Proc. SPIE 3543, Precision Agriculture and Biological Quality, (14 January 1999); https://doi.org/10.1117/12.336886

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