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Journal Article Design and experimentation of remote driving system for robotic speed sprayer operating in orchard environment
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Authors
Wonpil Yu, Soohwan Song
Issue Date
2023-06
Citation
ETRI Journal, v.45, no.3, pp.479-491
ISSN
1225-6463
Publisher
한국전자통신연구원
Language
English
Type
Journal Article
DOI
https://dx.doi.org/10.4218/etrij.2022-0079
Abstract
The automation of agricultural machines is an irreversible trend considering the demand for improved productivity and lack of labor in handling agricultural tasks. Unstructured working environments and weather often inhibit a seemingly simple task from being fully autonomously performed. In this context, we propose a remote driving system (RDS) to aid agricultural machines designed to operate autonomously. Particularly, we modify a commercial speed sprayer for orchard environments into a robotic speed sprayer to evaluate the proposed RDS's usability and test three sensor configurations in terms of human performance. Furthermore, we propose a confidence error ellipse‐based task performance measure to evaluate human performance. In addition, we present field experimental results describing how the sensor configurations affect human performance. We find that a combination of a semiautonomous line tracking device and a wide‐angle camera is the most effective for spraying. Finally, we discuss how to improve the proposed RDS in terms of usability and obtain a more accurate measure of human performance.
KSP Keywords
Agricultural machine, Driving system, Human performance, Line tracking, Performance measures, error ellipse, task performance, tracking device
This work is distributed under the term of Korea Open Government License (KOGL)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
Type 4: