Autonomous Traveling Control of Agricultural Mobile Robot Using Depth Camera in Greenhouse

DOI 機関リポジトリ Web Site 参考文献2件
  • Yamashita Satoshi
    Graduate School of Advanced Technology and Science, Tokushima University
  • Suzuki Hiroshi
    Graduate School of Advanced Technology and Science, Tokushima University
  • Kuwahara Akinobu
    Graduate School of Advanced Technology and Science, Tokushima University
  • Kitajima Takahiro
    Graduate School of Advanced Technology and Science, Tokushima University
  • Yasuno Takashi
    Graduate School of Advanced Technology and Science, Tokushima University

抄録

<p>We describe traveling control of an agricultural mobile robot using a depth camera in a greenhouse. In our previous research, we also developed an agricultural mobile robot using a 2D laser range finder (2D-LRF). However, since the detection area of the 2D-LRF is only a 2D plane at the installation height, it is difficult to classify the type of obstacles using the 2D-LRF. On the other hand, the depth camera can detect distances in 3D space and capture 2D color images. For that reason, we propose an autonomous traveling control algorithm for the robot using the depth camera. Depth information output from the depth camera is converted to 2D data and the robot is controlled on the basis of the 2D-LRF algorithm. Several experimental results using our developed mobile robot in a mock-up greenhouse demonstrate the usefulness of the proposed control algorithm using the depth camera.</p>

収録刊行物

  • 信号処理

    信号処理 23 (4), 201-204, 2019-07-20

    信号処理学会

参考文献 (2)*注記

もっと見る

詳細情報 詳細情報について

問題の指摘

ページトップへ