An Ultrasonic Ridge-Tracking Method Based on Limiter Sliding Window Filter and Fuzzy Pure Pursuit Control for Ridge Transplanter

Wei Liu, Jinhao Zhou, Yutong Liu, Tengfei Zhang, Meng Yan, Ji Chen, Chunjian Zhou, Jianping Hu and Xinxin Chen ()
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Wei Liu: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Jinhao Zhou: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Yutong Liu: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Tengfei Zhang: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Meng Yan: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Ji Chen: Shanghai Agricultural Machinery Research Institute, Shanghai 201106, China
Chunjian Zhou: Shanghai Agricultural Machinery Research Institute, Shanghai 201106, China
Jianping Hu: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China
Xinxin Chen: School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China

Agriculture, 2024, vol. 14, issue 10, 1-25

Abstract: There are various types of fruits and vegetables that need to be planted on ridges. In order to allow for seedlings with a certain row space and seedling space, the ridge transplanter should be able to track along the ridge. Therefore, an ultrasonic ridge-tracking method and system were developed to let the ridge transplanter track the ridge accurately. The ultrasonic ridge-tracking method mainly contains a limiter sliding window filtering algorithm and a fuzzy look-ahead distance decision model. The limiter sliding window filtering algorithm was proposed to filter the abnormal measuring results to avoid disoperation of the steering mechanism. Moreover, the fuzzy look-ahead distance decision model was proposed to determine the optimal look-ahead distance in order to obtain a desirable tracking performance. Additionally, a comparison experiment of the proposed ultrasonic ridge-tracking method and the universal pure pursuit method was conducted. The experimental results show that the greatest mean absolute errors of the lateral deviations of the ultrasonic ridge-tracking method and universal pure pursuit were 10.56 mm and 13.11 mm. The greatest maximum absolute errors of the lateral deviations of the ultrasonic ridge-tracking method and universal pure pursuit were 18.87 mm and 23.23 mm. In addition, the greatest root mean square error of the lateral deviation of the ultrasonic ridge-tracking method and the universal pure pursuit method were 13.52 mm and 15.66 mm. According to the ridge-tracking performance of the proposed ultrasonic ridge-tracking method, it can be used in practical transplanting conditions. Moreover, in other fields, robots or intelligent machinery can also apply the proposed ultrasonic ridge-tracking method to track objects similar to ridges.

Keywords: ultrasonic measuring; path tracking; ridge; transplanter; filter; pure pursuit (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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