Abstract
There are various types of fruits and vegetables that need to be planted on ridges. In order to allow for seedlings with a certain row space and seedling space, the ridge transplanter should be able to track along the ridge. Therefore, an ultrasonic ridge-tracking method and system were developed to let the ridge transplanter track the ridge accurately. The ultrasonic ridge-tracking method mainly contains a limiter sliding window filtering algorithm and a fuzzy look-ahead distance decision model. The limiter sliding window filtering algorithm was proposed to filter the abnormal measuring results to avoid disoperation of the steering mechanism. Moreover, the fuzzy look-ahead distance decision model was proposed to determine the optimal look-ahead distance in order to obtain a desirable tracking performance. Additionally, a comparison experiment of the proposed ultrasonic ridge-tracking method and the universal pure pursuit method was conducted. The experimental results show that the greatest mean absolute errors of the lateral deviations of the ultrasonic ridge-tracking method and universal pure pursuit were 10.56 mm and 13.11 mm. The greatest maximum absolute errors of the lateral deviations of the ultrasonic ridge-tracking method and universal pure pursuit were 18.87 mm and 23.23 mm. In addition, the greatest root mean square error of the lateral deviation of the ultrasonic ridge-tracking method and the universal pure pursuit method were 13.52 mm and 15.66 mm. According to the ridge-tracking performance of the proposed ultrasonic ridge-tracking method, it can be used in practical transplanting conditions. Moreover, in other fields, robots or intelligent machinery can also apply the proposed ultrasonic ridge-tracking method to track objects similar to ridges.
Share and Cite
MDPI and ACS Style
Liu, W.; Zhou, J.; Liu, Y.; Zhang, T.; Yan, M.; Chen, J.; Zhou, C.; Hu, J.; Chen, X.
An Ultrasonic Ridge-Tracking Method Based on Limiter Sliding Window Filter and Fuzzy Pure Pursuit Control for Ridge Transplanter. Agriculture 2024, 14, 1713.
https://doi.org/10.3390/agriculture14101713
AMA Style
Liu W, Zhou J, Liu Y, Zhang T, Yan M, Chen J, Zhou C, Hu J, Chen X.
An Ultrasonic Ridge-Tracking Method Based on Limiter Sliding Window Filter and Fuzzy Pure Pursuit Control for Ridge Transplanter. Agriculture. 2024; 14(10):1713.
https://doi.org/10.3390/agriculture14101713
Chicago/Turabian Style
Liu, Wei, Jinhao Zhou, Yutong Liu, Tengfei Zhang, Meng Yan, Ji Chen, Chunjian Zhou, Jianping Hu, and Xinxin Chen.
2024. "An Ultrasonic Ridge-Tracking Method Based on Limiter Sliding Window Filter and Fuzzy Pure Pursuit Control for Ridge Transplanter" Agriculture 14, no. 10: 1713.
https://doi.org/10.3390/agriculture14101713
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