Development of a collision avoidance system for agricultural airboat based on laser sensor
To avoid hitting the edge of paddy field or moving obstacle in the paddy field when global position system signal was weak or was influenced by the strong wind, we proposed a laser sensor- based collision avoidance system. This collision avoidance system was based on Otsu method to find out the opti...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Zhejiang University Press
2018-07-01
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| Series: | 浙江大学学报. 农业与生命科学版 |
| Subjects: | |
| Online Access: | https://www.academax.com/doi/10.3785/j.issn.1008-9209.2018.06.112 |
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| Summary: | To avoid hitting the edge of paddy field or moving obstacle in the paddy field when global position system signal was weak or was influenced by the strong wind, we proposed a laser sensor- based collision avoidance system. This collision avoidance system was based on Otsu method to find out the optimum position of edge point between the edge ground class and paddy field area class for determining the distance from the airboat to the edge. The dynamic experiment results showed that the root mean square error was 0.18 m for referring to the 3 m between the airboat and one edge of paddy field. For moving obstacle, a rectangular danger zone was set at the front of the airboat. A structure array was set up to record the obstacle information including obstacle number and distance between airboat and obstacle. The results showed that when the obstacle intruded the danger zone, the airboat would brake until the obstacle moved out, which would avoid the collision. |
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| ISSN: | 1008-9209 2097-5155 |