Autonomous Speed Sprayer Guidance Using Machine Vision and Fuzzy Logic

A Fuzzy Logic Controller (FLC) was developed for autonomous operation of a speed sprayer in an orchard.The operation of the FLC was graphically simulated under the real condition of the orchard. Machine vision was used todetermine vehicle heading and four ultrasonic sensors were used to detect obstacles during the operation. Operation timeduration of the hydraulic cylinders was inferred as output of the FLC. The results of simulation showed that the speedsprayer could be operated autonomously by the FLC that used sensor inputs from machine vision and ultrasonic sensors.After the graphic simulation, autonomous speed sprayer operation in a real orchard was conducted using the developedFLC. Orchard image analysis and signals of ultrasonic sensors were processed in real time. The speed sprayer wasmodified to be steered by two hydraulic cylinders. The results of field test showed that the speed sprayer could beoperated by the FLC. The ultrasonic sensors didnt contribute to the improvement of guidance performance; however,they assisted the speed sprayer to avoid trees or obstacles in emergent situations.