Abstract
The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader–follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5, 8.9, and 16.4 cm for straight, turning, and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1, 14.6, and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader–follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Abe, G., Mizushima, A., & Noguchi, N. (2005). Study on a straight follower control algorithm based on a laser scanner. Journal of the Japanese Society of Agricultural Machinery (Japan), 67(3), 65–71.
Ahamed, T., Takigawa, T., Koike, M., Honma, T., Hasegawa, H., & Zhang, Q. (2006). Navigation using a laser range finder for autonomous tractor (part 1) positioning of implement. Journal of the Japanese Society of Agricultural Machinery (Japan), 68(1), 68–77.
Ahamed, T., Tian, L., Takigawa, T., & Zhang, Y. (2009). Development of auto-hitching navigation system for farm implements using laser range finder. Transactions of the ASABE, 52(5), 1793–1803. https://doi.org/10.13031/2013.29120
Caballero, F., Merino, L., Ferruz, J., & Ollero, A. J. J. (2009). Vision-based odometry and SLAM for medium and high altitude flying UAVs. Journal of Intelligent and Robotic Systems, 54(1), 137–161.
Courbon, J., Mezouar, Y., Guénard, N., & Martinet, P. (2010). Vision-based navigation of unmanned aerial vehicles. Control Engineering Practice, 18(7), 789–799.
Espinosa, F., Santos, C., Marrón-Romera, M., Pizarro, D., Valdés, F., & Dongil, J. J. S. (2011). Odometry and laser scanner fusion based on a discrete extended Kalman filter for robotic platooning guidance. Sensors, 11(9), 8339–8357.
Goi, H. K., Giesbrecht, J. L., Barfoot, T. D., & Francis, B. A. (2010). Vision-based autonomous convoying with constant time delay. Journal of Field Robotics, 27(4), 430–449.
Han, S., Zhang, Q., Ni, B., & Reid, J. (2004). A guidance directrix approach to vision-based vehicle guidance systems. Computers and Electronics in Agriculture, 43(3), 179–195.
Hasegawa, H., Takigawa, T., Koike, M., Yoda, A., & Sakai, N. (2000). Studies on visual recognition of an agricultural autonomous tractor detection of the field state by image processing. Japanese Journal of Farm Work Research, 35(3), 141–147.
Iida, M., Maekawa, T., & Umeda, M. (1999). Automatic follow-up vehicle system for agriculture (Part 1). Journal of the Japanese Society of Agricultural Machinery, 61(1), 99–106.
Johnson, D. A., Naffin, D. J., Puhalla, J. S., Sanchez, J., & Wellington, C. K. (2009). Development and implementation of a team of robotic tractors for autonomous peat moss harvesting. Journal of Field Robotics, 26(6–7), 549–571.
Johnson, E. N., Calise, A. J., Sattigeri, R., Watanabe, Y., & Madyastha, V. (2004). Approaches to vision-based formation control. Paper presented at the 2004 43rd IEEE conference on decision and control (CDC) (IEEE Cat. No. 04CH37601).
Kannan, S. K., Johnson, E. N., Watanabe, Y., & Sattigeri, R. (2011). Vision-based tracking of uncooperative targets. International Journal of Aerospace Engineering, 2011, 243268.
Kise, M., Noguchi, N., Ishii, K., & Terao, H. (2004). Laser scanner-based obstacle detection system for autonomous tractor movement and shape detection targeting at agricultural vehicle. Journal of the Japanese Society of Agricultural Machinery (Japan), 66(2), 97–104.
Krajník, T., Nitsche, M., Faigl, J., Vaněk, P., Saska, M., Přeučil, L., Duckett, T., & Mejail, M. (2014). A practical multirobot localization system. Journal of Intelligent & Robotic Systems, 76(3), 539–562.
Morin, P., Samson, C. J. S., & h. o. r. (2008). Motion control of wheeled mobile robots. In B. Siciliano & O. Khatib (Eds.), Springer handbook of robotics (pp. 799–826). Springer.
Noguchi, N., & Barawid, O. C., Jr. (2011). Robot farming system using multiple robot tractors in Japan agriculture. IFAC Proceedings Volumes, 44(1), 633–637.
Noguchi, N., Will, J., Reid, J., & Zhang, Q. (2004). Development of a master–slave robot system for farm operations. Computers and Electronics in Agriculture, 44(1), 1–19.
Ou, M., Li, S., & Wang, C. (2013). Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing. International Journal of Control, 86(12), 2175–2188.
Peng, Z., Wang, D., Liu, H. H., & Sun, G. (2014). Neural adaptive control for leader–follower flocking of networked nonholonomic agents with unknown nonlinear dynamics. Adaptive Control and Signal Processing, 28(6), 479–495.
Zhang, X., Geimer, M., Noack, P. O., & Grandl, L. (2010). A semi-autonomous tractor in an intelligent master–slave vehicle system. Intelligent Service Robotics, 3(4), 263–269.
Acknowledgments
Thanks to Open Access Publishers Land from MDPI to have their policy to support the authors for reusing of the published article. In this regard, we would like to extend our gratitude to Sensors Journal to publish this article (Linhuan Zhang, Tofael Ahamed, Yan Zhang, Pengbo Gao and Tomohiro Takigawa. Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles. Sensors, 16(4), 578; https://doi.org/10.3390/s16040578, 2016). We thank University of Tsukuba for supporting this research and express our gratitude to the technical staff of Agricultural and Forest Research Center, University of Tsukuba for their cooperation.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Ethics declarations
The authors declare no conflict of interest.
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Zhang, L., Ahamed, T., Zhang, Y., Gao, P., Takigawa, T. (2023). Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles. In: Ahamed, T. (eds) IoT and AI in Agriculture. Springer, Singapore. https://doi.org/10.1007/978-981-19-8113-5_16
Download citation
DOI: https://doi.org/10.1007/978-981-19-8113-5_16
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-19-8112-8
Online ISBN: 978-981-19-8113-5
eBook Packages: Biomedical and Life SciencesBiomedical and Life Sciences (R0)