Active vision of a heavy material handling agricultural robot using robust control: a case study for initial cost problem

摘要

We propose a new active vision of a heavy material handling agricultural robot emphasizing the initial cost. A key point is a new combination of a structure system and a control system, not only one of the two. First, a camera configuration with only one camera is proposed to achieve lower initial cost. This configuration requires more robustness. Second, in order to realize the vision, a robust control system is designed in the presence of uncertainty and constraint. Finally, the validity is confirmed by experiments in an actual open field. The camera configuration can not work well without the designed controllers. That is, the robust controllers reduce the initial cost.