Autonomous speedsprayer using differential global positioning system, genetic algorithm and fuzzy control.

摘要: A fuzzy controller was developed for the autonomous operation of a speedsprayer in an orchard. The with graphically simulated under real orchard conditions. differential global positioning system (DGPS) receiver used to determine direction travel and four ultrasonic sensors were detect obstacles during operation. results simulation showed that could be operated autonomously combined DGPS sensors. signal, signals from sensors, processed time. modified steered by two hydraulic cylinders. has inputs: distance obstacles. operating time cylinders inferred as output controller. field test within 50 cm deviation. did not contribute improvement guidance performance. speedsprayer, however, avoid trees or emergency situations them. According computer simulation, performance improved 68% using genetic algorithm. However, according test, algorithm much because tyre slip response gap system.