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Development of a Novel Safety System for Remote Plant Nursing Robots

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

Citation:  7th World Congress on Computers in Agriculture Conference Proceedings, 22-24 June 2009, Reno, Nevada (electronic only)  711P0409e.(doi:10.13031/2013.29078)
Authors:   Jakob Juul Larsen, Esmaeil E Nadimi, Palle Hermansen
Keywords:   Angle of arrival, multiple signal classification, electronically steerable parasitic array radiator.

Abstract-In order to find a system that can localize the operator of a large remote controlled vehicle, the combination of the ESPAR antenna and the MUSIC algorithm is tested. The ESPAR antenna is a single port compact antenna that can be used for beam forming or as in this case for angle of arrival estimation. The basic principle behind the antenna is explained. The modified MUSIC algorithm is also explained. To test the performance of the system simulations were made. The simulations showed it to be possible to achieve accuracy less than 1 degree. It is concluded that the system is suitable for localizing the operator and improve safety when working around large remote controlled vehicles.

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