Vision based row guidance approach for navigation of agricultural mobile robots in orchards

Lafidi, Nurul Sakinah (2021) Vision based row guidance approach for navigation of agricultural mobile robots in orchards. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Machine vision plays important roles for the development in agriculture to improve the level of productivity. In the present study, this project proposes the development of an automatic guidance system capable of navigating an autonomous vehicle which traveling between the row in orchard. The system focuses on the straight lines recognition of the tree rows by identifying central line for robot navigation in orchard's row using Hough Transform and image processing methods such as Morphological operation, Thresholding and Edge detection by using Canny operator. The system is meant for outdoor use only as it is designed for navigation guider in orchard. The main software used in this project is MATLAB for simulation of the vision-based approach which offers workspace for image processing with different features. A series of images of various types of orchards were used to develop the algorithm. The algorithm was then evaluated using several orchards image with different characteristics and the result showed that the proposed method can successfully detect the central lines as navigation of an autonomous vehicle to travel between the row with various heights of trees and sizes.

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