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008			230209s2021 th uu m rtt 0| a1eng
035			_a.b12398731
099		9	_aAIT Diss. no.ISE-21-06
100	0		_aSupod Kaewkorn
245	1	0	_aMultisensor fusion for precise agriculture in paddy fields
260			_aPathum Thani, Thailand : _bAsian Institute of Technology, _c2021
300			_a76 p. : _bill.
490	1		_aDissertation ; _vno. ISE-21-06
500			_aA dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology
502			_aThesis (Ph. D.) - Asian Institute of Technology, 2021
520			_aNowadays, 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.
650		0	_aAutomatic tracking
650		0	_aMultisensor data fusion
650		0	_aInertial navigation systems
700	0		_aMongkol Ekpanyapong, _eChairperson
700	0		_aManukid Parnichkun, _eExamination Committee
700	0		_aAttaphongse Taparugssanagorn, _eExamination Committee
710	2		_aNational Science and Technology Development Agency (NSTDA), Thailand, _eScholarship Donor
810	2		_aAsian Institute of Technology. _tDissertation ; _vno. ISE-21-06
856	4	0	_3Full-Text _uhttp://203.159.5.9/ait-thesis/detail.php?q=B18219
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909			_aBarcode : - _bCREATED : 2023-06-02 _cRECORD # : i13429796 _dLPATRON : 0 _eLCHKIN : - _f# RENEWALS : 0 _g# OVERDUE : 0 _hIUSE3 : 0 _iTOT CHKOUT : 0 _jTOT RENEW : 0
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