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Automatic guidance of agricultural vehicles using a laser sensor

Abstract : This paper presents a method of automatic guidance of an agricultural vehicle in a structured environment (windrow harvester) or an iteractive structured environment (combine harvester) using a laser sensor. The sensor parameters are estimated using a correlation based approach. A filter is incorporated so as to limit the perturbations caused by dust. The robustness of the guidance system can be increased by computing a reliability criterion from the estimate model. Vegetation volume and height are calculated and can be applied to control the vehicle velocity.
Mots-clés : CEMAGREF TSCF LASMEA
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https://hal.inrae.fr/hal-02580279
Contributor : Migration Irstea Publications <>
Submitted on : Thursday, May 14, 2020 - 8:18:36 PM
Last modification on : Wednesday, April 21, 2021 - 8:34:03 AM

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T. Chateau, C. Debain, Florian Collange, L. Trassoudaine, J. Alizon. Automatic guidance of agricultural vehicles using a laser sensor. Computers and Electronics in Agriculture, Elsevier, 2000, 28 (3), pp.243-257. ⟨10.1016/S0168-1699(00)00130-7⟩. ⟨hal-02580279⟩

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