BROWSE
Detail
Journal Article
Design and experimentation of remote driving system for robotic speed sprayer operating in orchard environment
- 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
- 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: : Type 1 + Commercial Use Prohibition+Change Prohibition)
