Abstract

Autonomous speedsprayer operation was conducted using a fuzzy controller combined with a DGPS. The signal of DGPS receiver and signals of four ultrasonic sensors were processed in real time. The speedsprayer was steered with two levers controlled by two hydraulic cylinders. The fuzzy controller has two inputs; direction of running obtained from the DGPS receiver and distance from trees measured by ultrasonic sensors. The operation times of the hydraulic cylinders were inferred as outputs of the fuzzy controller. Field test results showed that the speedsprayer could be autonomously operated by the developed fuzzy controller including turning operation in the end of the tree row. The ultrasonic sensors contributed a little to performance of the autonomous operation, but the speedsprayer could avoid trees or obstacles in emergent situations with them.

Keywords

• speedsprayer;
• autonomous operation;
• fuzzy control;
• DGPS(Differential Global Positioning System);
• ultrasonic sensor

• 스피드스프레이어;
• 자율주행;
• 퍼지제어;
• 초음파센서;