TY  - SER
AU  - Supod Kaewkorn  
AU  - Mongkol Ekpanyapong,
AU  - Manukid Parnichkun,
AU  - Attaphongse Taparugssanagorn,
ED  - National Science and Technology Development Agency (NSTDA), Thailand,
TI  - Multisensor fusion for precise agriculture in paddy fields
T2  - Dissertation
PY  - 2021///
CY  - Pathum Thani, Thailand
PB  - Asian Institute of Technology
KW  - Automatic tracking
KW  - Multisensor data fusion
KW  - Inertial navigation systems
N1  - A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology; Thesis (Ph. D.) - Asian Institute of Technology, 2021
N2  - Nowadays, the agricultural industry has widely adopted automatic machinery to  increase their productivity and reduce production costs. Labor-intensive agricultural  tasks are especially targeted to be replaced by an automated robot, such as soil  preparation, cultivation, fertilizing, weed control, Insecticide spray, and harvesting.  Since these tasks require the robots to follow a predetermined path, one important  criteria required from these robots is an accurate and precise localization, which  includes XYZ position, heading, and attitude (roll and pitch tilts). This research  presents a novel to design, construct a positioning and tilt angle system of agricultural  machinery with high precision and low cost using an image-processing triple-laser guided (TLG) system coupled with an inertial measurement unit (IMU). The TLG  system consists of a laser-pointing unit (LPU) at the base station and a laser-target  unit (LTU) at the mobile robot. The robot{u2019}s XYZ position and heading are determined  from the positions and the angles relative to the field of both LPU and LTU. The IMU  sensor fusion determines the robot{u2019}s roll and pitch with a complementary filter. The  IMU-coupled TLG system was demonstrated on an outdoor, 20 x 21 m flat field at  various light intensities, and then tested in an actual paddy field in the same  conditions. The paddy field testing indicates that the uneven area of the actual field  does not affect the system. The overall lateral and vertical accuracies of the IMU coupled TLG system are 1.68 cm and 0.59 cm, respectively. The general heading,  roll, and pitch accuracies of the IMU-coupled TLG system are 0.90{u00BA}, 0.78{u00BA}, and 0.76{u00BA},  respectively. The lateral and heading accuracies of the IMU-coupled TLG system are  comparable to commercially available GNSS-INS systems from NovAtel and  Trimble. On the other hand, the total cost of the IMU-coupled TLG system is only a  fraction of the total cost of the commercially available localization systems.
UR  - http://203.159.5.9/ait-thesis/detail.php?q=B18219
ER  -