Title :
Recognising plants with ultrasonic sensing for mobile robot navigation
Author :
Harper, Neil ; Kerrow, Phillip M.
Author_Institution :
Sch. of Inf. Technol. & Comput. Sci., Wollongong Univ., NSW, Australia
fDate :
6/21/1905 12:00:00 AM
Abstract :
Mobile robots navigate through many environments that include plants. A sensor that can recognise plants would be useful for navigation in these environments. Two problems make plant sensing difficult: plant similarity and plant asymmetry with rotation. A CTFM (continuously transmitted frequency modulated) ultrasonic sensor produces a signal that contains information about the geometric structure of plants. Correlation of echoes from many orientations show that plants can be recognised with sufficient accuracy for navigation
Keywords :
agriculture; biology computing; botany; computerised navigation; correlation methods; echo; image sensors; mobile robots; object recognition; robot vision; ultrasonic transducers; CTFM US sensor; accuracy; continuously transmitted frequency modulated US sensor; echo correlation; geometric structure; mobile robot navigation; plant asymmetry; plant recognition; plant sensing; plant similarity; rotation; ultrasonic sensing; Character recognition; Computer science; Geometry; Information technology; Machine vision; Mobile robots; Navigation; Neural networks; Robot sensing systems; Sensor phenomena and characterization;
Conference_Titel :
Advanced Mobile Robots, 1999. (Eurobot '99) 1999 Third European Workshop on
Conference_Location :
Zurich
Print_ISBN :
0-7803-5672-1
DOI :
10.1109/EURBOT.1999.827628
