A New Approach to Visual-Based Sensory System for Navigation into Orange Groves

摘要

One of the most important parts of an autonomous robot is to establish the path by which it should navigate in order to successfully achieve its goals. In the case of agricultural robotics, a procedure that determines this desired path can be useful. In this paper, a new virtual sensor is introduced in order to classify the elements of an orange grove. This proposed sensor will be based on a color CCD camera with auto iris lens which is in charge of doing the captures of the real environment and an ensemble of neural networks which processes the capture and differentiates each element of the image. Then, the Hough's transform and other operations will be applied in order to extract the desired path from the classification performed by the virtual sensory system. With this approach, the robotic system can correct its deviation with respect to the desired path. The results show that the sensory system properly classifies the elements of the grove and can set trajectory of the robot.