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A Robust Procedure to Obtain a Guidance Directrix for Vision-Based Vehicle Guidance Systems

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Pp. 317-326 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10021)
Authors:   S, Han, M. A. Dickson, B. Ni, J. F. Reid, and Q. Zhang
Keywords:   Tractor, Automatic guidance, Machine vision, Trajectory planning

In a machine vision based vehicle guidance system, finding guidance information from row crop structure is the key in achieving accurate control of the vehicle. This paper describes a robust procedure to obtain a guidance directrix. The procedure includes row segmentation by K-means clustering algorithm, row detection by a moment algorithm, and regression line selection by a cost function. Auxiliary information, such as the known crop row spacing, is used to aid in the detection of the guidance directrix. A navigation planner is implemented to convert the guidance directrix to a desired steering wheel angle, which is then used to control the vehicle.

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