Algorithm for Path Recognition in-between Tree Rows for Agricultural Wheeled-Mobile Robots

<!DOCTYPE html> <html lang="en" dir="ltr"> <head>  <script async src="https://www.googletagmanager.com/gtag/js?id=G-P63WKM1TM1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'G-P63WKM1TM1'); </script>  <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(55165297, "init", { clickmap:false, trackLinks:true, accurateTrackBounce:true, webvisor:false }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/55165297" style="position:absolute; left:-9999px;" alt="" /></div></noscript>    <title>Algorithm for Path Recognition in-between Tree Rows for Agricultural Wheeled-Mobile Robots</title> <meta name="description" content="Algorithm for Path Recognition in-between Tree Rows for Agricultural Wheeled-Mobile Robots"> <meta name="keywords" content="Agricultural mobile robot, image processing, path recognition, Hough transform."> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <meta name="citation_title" content="Algorithm for Path Recognition in-between Tree Rows for Agricultural Wheeled-Mobile Robots"> <meta name="citation_author" content="Anderson Rocha"> <meta name="citation_author" content="Pedro Miguel de Figueiredo Dinis Oliveira Gaspar"> <meta name="citation_publication_date" content="2019/01/15"> <meta name="citation_journal_title" content="International Journal of Mechanical and Mechatronics Engineering"> <meta name="citation_volume" content="13"> <meta name="citation_issue" content="1"> <meta 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href="https://publications.waset.org/search?q=Anderson%20Rocha">Anderson Rocha</a>, <a href="https://publications.waset.org/search?q=Pedro%20Miguel%20de%20Figueiredo%20Dinis%20Oliveira%20Gaspar"> Pedro Miguel de Figueiredo Dinis Oliveira Gaspar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Machine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.</p> <iframe src="https://publications.waset.org/10009950.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Agricultural%20mobile%20robot" title="Agricultural mobile robot">Agricultural mobile robot</a>, <a href="https://publications.waset.org/search?q=image%20processing" title=" image processing"> image processing</a>, <a href="https://publications.waset.org/search?q=path%20recognition" title=" path recognition"> path recognition</a>, <a href="https://publications.waset.org/search?q=Hough%20transform." title=" Hough transform."> Hough transform.</a> </p> <p class="card-text"><strong>Digital Object Identifier (DOI):</strong> <a href="https://doi.org/10.5281/zenodo.3607797" target="_blank">doi.org/10.5281/zenodo.3607797</a> </p> <a href="https://publications.waset.org/10009950/algorithm-for-path-recognition-in-between-tree-rows-for-agricultural-wheeled-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10009950/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10009950/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10009950/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10009950/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10009950/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10009950/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10009950/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10009950/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10009950/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10009950/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10009950.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1789</span> </span> <p class="card-text"><strong>References:</strong></p> <br>[1] Y. R. Chen, K. Chao, and M. S. Kim, “Machine vision technology for agricultural applications,” in Computers and Electronics in Agriculture, 2002, vol. 36, no. 2–3, pp. 173–191. <br>[2] P. Revathi and M. Hemalatha, “Classification of cotton leaf spot diseases using image processing edge detection techniques.” pp. 169–173, 2012. <br>[3] S. Kalaivanan and R. Kalpana, “Coverage path planning for an autonomous robot specific to agricultural operations,” in 2017 International Conference on Intelligent Computing and Control (I2C2), 2017, pp. 1–5. <br>[4] Shivaprasad B, Ravishankara M, and B N Shoba, “Design and Implementation of Seeding and Fertilizing Agriculture Robot,” Int. J. Appl. or Innov. Eng. Manag., vol. 3, no. 6, p. 5, 2014. <br>[5] Q. Lü, J. R. Cai, B. Liu, D. Lie, and Y. J. Zhang, “Identification of fruit and branch in natural scenes for citrus harvesting robot using machine vision and support vector machine,” Int. J. Agric. Biol. Eng., vol. 7, no. 2, pp. 115–121, 2014. <br>[6] L. Biqing, L. Yongfa, Z. Hongyan, and Z. Shiyong, “The design and realization of cherry tomato harvesting robot based on IOT,” Int. J. Online Eng., vol. 12, no. 12, pp. 22–26, 2016. <br>[7] B. Zhao, Y. Fan, W. Mao, P. Zhou, and X. Zhang, “Path recognition method of agricultural vehicle in diferente illumination,” in Transactions of the Chinese Society of Agricultural Engineering, 2012, pp. 193–196. <br>[8] G. Gao and M. Li, “Study on navigating path recognition for the greenhouse mobile robot based on K-means algorithm,” in Proceedings of the 11th IEEE International Conference on Networking, Sensing and Control, ICNSC 2014, 2014, pp. 451–456. <br>[9] C. Tu, B. J. Van Wyk, K. Djouani, Y. Hamam, and S. Du, “An efficient crop row detection method for agriculture robots,” in Proceedings - 2014 7th International Congress on Image and Signal Processing, CISP 2014, 2014, pp. 655–659. <br>[10] A. Takagaki, R. Masuda, M. Iida, and M. Suguri, “Image Processing for Ridge/Furrow Discrimination for Autonomous Agricultural Vehicles Navigation,” IFAC Proc. Vol., vol. 46, no. 18, pp. 47–51, 2013. <br>[11] A. Witten, “A MATLAB-based three-dimensional viewer,” Comput. Geosci., vol. 30, no. 7, pp. 693–703, 2004. <br>[12] G. R. Vidhya and H. Ramesh, “Effectiveness of Contrast Limited Adaptive Histogram Equalization Technique on Multispectral Satellite Imagery,” in Proceedings of the International Conference on Video and Image Processing - ICVIP 2017, 2017, pp. 234–239. <br>[13] N. Otsu, “A Threshold Selection Method from Gray-Level Histograms,” IEEE Trans. Syst. Man. Cybern., vol. 9, no. 1, pp. 62–66, 1979. <br>[14] M. Sonka, V. Hlavac, and R. Boyle, “Image Processing, Analysis, and Machine Vision,” Thomson Learn., p. 812, 2008. <br>[15] W. Gao, L. Yang, X. Zhang, and H. Liu, “An improved Sobel edge detection,” in Proceedings - 2010 3rd IEEE International Conference on Computer Science and Information Technology, ICCSIT 2010, 2010, vol. 5, pp. 67–71. </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Account <li><a href="https://waset.org/profile">My Account</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Explore <li><a href="https://waset.org/disciplines">Disciplines</a></li> <li><a href="https://waset.org/conferences">Conferences</a></li> <li><a href="https://waset.org/conference-programs">Conference Program</a></li> <li><a href="https://waset.org/committees">Committees</a></li> <li><a href="https://publications.waset.org">Publications</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Research <li><a href="https://publications.waset.org/abstracts">Abstracts</a></li> <li><a href="https://publications.waset.org">Periodicals</a></li> <li><a href="https://publications.waset.org/archive">Archive</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Open Science <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Philosophy.pdf">Open Science Philosophy</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Award.pdf">Open Science Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Society-Open-Science-and-Open-Innovation.pdf">Open Innovation</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Postdoctoral-Fellowship-Award.pdf">Postdoctoral Fellowship Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Scholarly-Research-Review.pdf">Scholarly Research Review</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Support <li><a href="https://waset.org/page/support">Support</a></li> <li><a href="https://waset.org/profile/messages/create">Contact Us</a></li> <li><a href="https://waset.org/profile/messages/create">Report Abuse</a></li> </ul> </div> </div> </div> </div> </div> <div class="container text-center"> <hr style="margin-top:0;margin-bottom:.3rem;"> <a href="https://creativecommons.org/licenses/by/4.0/" target="_blank" class="text-muted small">Creative Commons Attribution 4.0 International License</a> <div id="copy" class="mt-2">© 2024 World Academy of Science, Engineering and Technology</div> </div> </footer> <a href="javascript:" id="return-to-top"><i class="fas fa-arrow-up"></i></a> <div class="modal" id="modal-template"> <div class="modal-dialog"> <div class="modal-content"> <div class="row m-0 mt-1"> <div class="col-md-12"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> </div> </div> <div class="modal-body"></div> </div> </div> </div> <script src="https://cdn.waset.org/static/plugins/jquery-3.3.1.min.js"></script> <script src="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.waset.org/static/js/site.js?v=150220211556"></script> <script> jQuery(document).ready(function() { /*jQuery.get("https://publications.waset.org/xhr/user-menu", function (response) { jQuery('#mainNavMenu').append(response); });*/ jQuery.get({ url: "https://publications.waset.org/xhr/user-menu", cache: false }).then(function(response){ jQuery('#mainNavMenu').append(response); }); }); </script> </body> </html>

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Algorithm for Path Recognition in-between Tree Rows for Agricultural Wheeled-Mobile Robots