Autonomous real-time monitoring of crops in controlled environment agriculture
Abstract
In this work, we develop a system that can be used for realtime monitoring of multiple important areas in controlled environment agriculture (and in particular greenhouses) using anautonomous ground vehicle (AGV). To model the greenhouselayout, as well as the tasks that should be accomplished by theAGV, we generate two weighted directed graphs. Based on thosegraphs, an algorithm is then proposed for finding the optimal (inthe sense of traveled distance) trajectory of the vehicle with thegoal of precisely monitoring important areas in the greenhouse.Furthermore, a data collection system and image processing algorithm is proposed and implemented so that the vehicle: (i)can capture images and detect changes that have occurred onthe crops in real time, and (ii) construct (if needed) a map ofthe plant rows, when arriving at each one of the important areas.Based on this work, the images can either be stitched onboard thevehicle and then sent to a server or be sent directly to the serverand then processed (stitched) there. Both simulation and experimental results are provided to demonstrate the effectiveness andperformance of the proposed system.
Publication Title
ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Recommended Citation
Faryadi, S., Davoodi, M., & Velni, J. (2019). Autonomous real-time monitoring of crops in controlled environment agriculture. ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, 2 https://doi.org/10.1115/DSCC2019-9176
