HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

Vision Based Control in Driving Assistance of Agricultural Vehicles

Abstract : This article presents a real-time control system for an agricultural mobile machine (vehicle) based on an on-board vision system using a single camera. This system has been designed in order to help human beings in repetitive and di cult tasks in the agricultural domain. The aim of the robotics application concerns the control of the vehicle with regard to the reap limit detected in image space. The perception aspect in relation with the application has been described in previous work, and here we deal with the control aspect. We integrate image features issued from the modelling of the scene in the control loop, in order to perform image-based servoing technique. The vehicle behaviour described here concerns bicycle and neural models, and three control laws are then synthesized. The rst and the second are modelling approaches and use an interaction between the scene and the image space. They are based on regulation of a task function. The third is a \black-box modelling" technique and is based on a neural network. Finally, experimental results obtained with these di erent control laws in different conditions are presented and discussed.
Document type :
Journal articles
Complete list of metadata

Cited literature [31 references]  Display  Hide  Download

https://hal.inria.fr/hal-02465578
Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Tuesday, February 4, 2020 - 6:16:21 AM
Last modification on : Thursday, March 3, 2022 - 8:08:03 PM
Long-term archiving on: : Tuesday, May 5, 2020 - 12:55:19 PM

File

ijrr97.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02465578, version 1

Collections

Citation

Djamel Khadraoui, Christophe Debain, Philippe Martinet, Pierre Bonton, Jean Gallice. Vision Based Control in Driving Assistance of Agricultural Vehicles. The International Journal of Robotics Research, SAGE Publications, 1998, 17 (10), pp.1040-1054. ⟨hal-02465578⟩

Share

Metrics

Record views

24

Files downloads

144