컴퓨터 시각과 퍼지논리를 이용한 스피드스프레이어의 자율주행 = Autonomous Speedsprayer using Computer Vision and Fuzzy Logic

다국어 초록 (Multilingual Abstract)

An automatic traveling system for speedsprayer was developed. The system consists of a computer vision system to monitor heading direction of the speedsprayer, an electronic compass module, four ultrasonic sensors to detect trees or obstacles, a rotary encoder to measure travel distance and speed of the speedsprayer, a FLC(Fuzzy Logic Controller) to determine travel direction, and two hydraulic cylinders to steer the speedsprayer. The electronic compass was installed on the center of the speedsprayer, and the 5th wheel with the rotary encoder was mounted at the end of trailer. Two ultrasonic sensors were attached on the front of the speedsprayer, and the others were on the rear. The FLC was used to process the electronic compass and the ultrasonic sensor signals as inputs, and to determine operating time of the hydraulic cylinders to steer the speedsprayer.
The performance of the control algorithm and the automatic traveling system were evaluated by computer simulation and field test. Straight path and circular path were used for computer simulation and field test. The speedsprayer was travelled at 1.54km/hr of the ground speed and 17.44˚/sec of the turning ratio in the orchard. The RMS(Root Mean Square) value and ratio of areas between ideal path and travelled path were analyzed. The results of the computer simulation and the field test showed that the speedsprayer could be travelled autonomously in the orchard. The electronic compass and the rotary encoder provided useful information for automatic traveling of the speedsprayer. The ultrasonic sensors could monitor trees or obstacles, but could not measure the distances between the trees and the speedsprayer precisely due to vibrations. To improve the performance of automatic traveling system for speedsprayer, more accurate distance measurement system or positioning system will be required in the orchard.

목차 (Table of Contents)

• 1. 서 론
• 2. 재료 및 방법
• 2.1 자율주행시스템의 구성
• 2. 2 과수원의 형상 및 주행 성능 평가
• 3. 결과 및 고찰
• 3.1 영상처리신호를 사용한 직선 자율주행
• 3.2 전자식 컴퍼스와 초음파 센서를 사용한 직선 자율주행
• 3.3 전자식 컴퍼스와 초음파 센서를 사용한 선회 자율주행
• 4. 요약 및 결론