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Utilisation combinée de capteurs inertiels et vision pour le contrôle d'un bras hexa de désherbage automatique

Abstract : In the European project Patchwork, a non chemical automatic weeding tool has been developed. It includes a parallel arm with an hexa structure, settled on a pulled platform and performing the weeding operation on-flight. In order to overcome the platform motion and to allow the end-effector to keep stable during the operation, a combined control mode including a machine vision system and a low-cost inertial sensor unit has been used. The complete prototype has been tested in real field conditions.
Mots-clés : CEMAGREF GEMO LIRMM PATCHWORK
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Conference papers
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https://hal.inrae.fr/hal-02577212
Contributor : Migration Irstea Publications <>
Submitted on : Thursday, May 14, 2020 - 6:11:54 PM
Last modification on : Thursday, November 12, 2020 - 12:54:03 PM

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  • HAL Id : hal-02577212, version 1
  • IRSTEA : PUB00004198

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Gilles Rabatel, J.M. Roger, François Pierrot. Utilisation combinée de capteurs inertiels et vision pour le contrôle d'un bras hexa de désherbage automatique. Journées automatique agricole et agro-alimentaire, Clermont-Ferrand, 28-29 octobre 1997, 1997, France. pp.8. ⟨hal-02577212⟩

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