Development of software interface for AI-driven weed control in robotic vehicles, with time-based evaluation in indoor and field settings

摘要

• Novel study on building a YOLOv4 based machine vision system in robotic platforms. • Robot tested on field and lab conditions for hardware and software integration. • Grid map based YOLOv4 would have potential to save an herbicide up to 80 %. Abstract Herbicide blanket application is widely practiced by farmers to chemically control weeds in the field, thereby enhancing productivity and improving crop quality. However, their repetitive use also has caused several negative issues on the environment and human health. To overcome these negative issues precision site-specific weed control can be used to reduce the herbicide application by targeted application on only weed areas. Hence, a robotic platform utilizing NVIDIA Jetson embedded device as control and processing unit was developed and tested on lab and field conditions for weed control. The average time taken for data acquisition and artificial intelligence-based computer vision tasks was tested under both lab and field conditions. Moreover, a grid map creation algorithm using YOLOv4 deep learning algorithm was evaluated to control the nozzles of the robotic platform. Integrating all these components together enabled real-time weed management approaches, enhancing the precision and efficiency of herbicide application Independent paired t -tests reveal that there is no significant difference in computational time between lab and field testing. Conversely, independent paired t -test revels that there is significant difference in image size between lab and field testing. The reduction of herbicide application based on grid map was obtained 79 to 80 %, which does not include YOLOv4 algorithm failure and system synchronization failure. The study suggests the importance of field testing for real-time applications of the robotic platform by using deep learning computer vision methods for weed control.