Abstract
In a well-structured plantation field throughout the world, the crops are usually planted in such long rows, which indirectly has created small pathways in between two consecutive rows. This pathway has been traveled by the farmers to move around in the field either by foot or machine and so that they can monitor, harvest as well as provide a maximum plant scouting through the field. This activity is tiring and stressful as the size of the field is getting bigger. To facilitate this issue, normally tractor and machine have been used. Unfortunately, this machine still requires a worker to operate it, and therefore the workforce problem is still unsolved as more workers and working shifts are needed for this process. Furthermore, the use of tractor is still limited in the plantation field that has pathways that are small in size, which is less than the size of the tractor itself. Therefore, in this work, a small-scaled unmanned vehicle is developed by structuring its forward navigation operation in a small-sized pathway which is approximately 1 m. Since the size of the unmanned vehicle is very small, it hinders the usage of bulky equipment such as laser scanner and laptop to be carried away during the operation. To overcome this issue, with the usage of small discrete sensor such as the infrared sensor, an embedded and automated navigation of the unmanned vehicle is developed to manipulate the minimal space in between the rows in order to navigate in the entire farm. A Bezier curve is applied to draft out the desired path and series of navigation schemes are deployed in order to maneuver the unmanned vehicle on the planned path as well as maintain its position to be in the middle of the path to avoid collision with the available trees or landmarks. Test results indicate that this work has demonstrated a simple and robust algorithm as well as low-level requirement for a small-scaled unmanned vehicle to travel between the crops in a forward navigation.
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Thamrin, N.M., Arshad, N.H.M., Adnan, R., Sam, R. (2022). Forward Navigation for Autonomous Unmanned Vehicle in Inter-Row Planted Agriculture Field. In: Mariappan, M., Arshad, M.R., Akmeliawati, R., Chong, C.S. (eds) Control Engineering in Robotics and Industrial Automation. Studies in Systems, Decision and Control, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-030-74540-0_7
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