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I-Weed Robot : un robot autoguidé pour un désherbage localisé

Abstract : We present the development of an autonomous robot, called I-Weed Robot (Intelligent Weed Robot), which aims at reducing herbicides in crop fields (maize, sunflower…). Using a high precision positioning signal (RTK) to locate the robot in the field, a Kalman filter and a proportional-integral-derivative controller (PID controller) allows adjusting the orientation and the speed of the robot depending on a predefined trajectory. As for the specific spraying system, a commercial system is used (weedseeker, Trimble) where the plant detection is obtained by an optical sensors just before to spray specifically on them. The performance of the guidance algorithm using numerical simulations (virtual trajectory) is assessed and its robustness is tested for different noisy signals (GPS, DGPS and RTK). Although the simulations demonstrate that algorithm is reliable, further research in field conditions is necessary to confirm the promising results.
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Submitted on : Wednesday, June 3, 2020 - 2:22:37 PM
Last modification on : Friday, May 20, 2022 - 9:06:16 AM


  • HAL Id : hal-02748913, version 1
  • PRODINRA : 261557


Christelle Gée, B. Gobin, E. Busvelle, Sylvain Villette, Gawain Jones, et al.. I-Weed Robot : un robot autoguidé pour un désherbage localisé. 22. Conférence du Columa - Journées internationales sur la lutte contre les mauvaises herbes, Association Française de Protection des Plantes (AFPP). FRA., Dec 2013, Dijon, France. 45 p. ⟨hal-02748913⟩



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