In this paper, we propose a robust ridge detection method for autonomous navigation of a mobile robot in agricultural fields using an inexpensive RGB-D camera system. In this system, the ridge centerline is estimated using the depth images from RGB-D sensor by using our proposed methods. We propose an autonomous driving system utilizing digital optimal control regulator for high-precision motion and robust recognition of ridge features. From the experimental evaluation, an accuracy level of cm robot traversal along the farm ridge was recorded.
CITATION STYLE
Fujita, S., Emaru, T., Ravankar, A. A., & Kobayashi, Y. (2021). Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 601, pp. 16–23). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-58380-4_3
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