Ramezani, Hamed, Khoshtaghaza, Mohammad Hadi, Minaei, Saeed, Akbarizadeh, Gholamreza. (1401). Machine Vision System for Autonomous Guidance of Raisin-Collection Rover. نشریه مهندسی عمران امیرکبیر, 7(1), 61-72. doi: 10.22060/ajme.2023.21775.6045
Hamed Ramezani; Mohammad Hadi Khoshtaghaza; Saeed Minaei; Gholamreza Akbarizadeh. "Machine Vision System for Autonomous Guidance of Raisin-Collection Rover". نشریه مهندسی عمران امیرکبیر, 7, 1, 1401, 61-72. doi: 10.22060/ajme.2023.21775.6045
Ramezani, Hamed, Khoshtaghaza, Mohammad Hadi, Minaei, Saeed, Akbarizadeh, Gholamreza. (1401). 'Machine Vision System for Autonomous Guidance of Raisin-Collection Rover', نشریه مهندسی عمران امیرکبیر, 7(1), pp. 61-72. doi: 10.22060/ajme.2023.21775.6045
Ramezani, Hamed, Khoshtaghaza, Mohammad Hadi, Minaei, Saeed, Akbarizadeh, Gholamreza. Machine Vision System for Autonomous Guidance of Raisin-Collection Rover. نشریه مهندسی عمران امیرکبیر, 1401; 7(1): 61-72. doi: 10.22060/ajme.2023.21775.6045

Machine Vision System for Autonomous Guidance of Raisin-Collection Rover

AUT Journal of Mechanical Engineering
مقاله 5، دوره 7، شماره 1، 2023، صفحه 61-72    اصل مقاله (1.19 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/ajme.2023.21775.6045
نویسندگان
Hamed Ramezani1؛ Mohammad Hadi Khoshtaghaza* 1؛ Saeed Minaei1؛ Gholamreza Akbarizadeh2
1Department of Biosystems Engineering, Faculty of Agriculture, Tarbiat Modares University, Tehran, Iran
2Department of Electrical Engineering, Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, Iran
چکیده
The development of autonomous vehicles based on machine vision system in various industries and agriculture is a challenging topic. In this study, the active-contour algorithm was utilized for path-tracking of an automatic raisin-collecting rover. For this purpose, the energy difference between the background and foreground levels is utilized to extract the boundary between raisins and the ground surface with good accuracy which is used for navigating the path. This was accomplished by developing a small unmanned rover equipped with four DC motors and a machine vision system. Field tests at the Sunny Raisin Court showed that the system was able to independently detect and navigate its path with an RMS error of 1.57 cm. The results of analysis of variance for accuracy of the path tracking showed that the effect of lighting conditions and speed on the accuracy was significant at the level of one percent.
کلیدواژه‌ها
automatic guidance؛ image processing؛ active contour؛ feature extraction؛ intelligent control
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