Abstract
Spraying pesticides is a key element of agriculture worldwide, since 30% to 35% of crop losses can be prevented when harmful insects and diseases are eliminated by applying pesticides. Site-specific spraying can help reduce pesticide application; however, target detection is limited due to the complex agricultural environment. This paper presents a human-robot collaborative sprayer designed for site-specific targeted spraying. The robotic sprayer platform, the framework, and tools for the robotic sprayer to collaborate with a remote human operator for the target detection and spraying tasks are detailed. An experiment to evaluate the elements of the collaborative human-robot framework working in sync was designed, implemented, and evaluated. The collaborative spraying system shows a 50% reduction of sprayed material. The experiment also proves the feasibility of human-robot collaboration for the complex task of spraying specific targets considering both the True Positive (TP) and False Positive (FP) rates.
Original language | English |
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Pages (from-to) | 1519-1530 |
Number of pages | 12 |
Journal | Journal of Field Robotics |
Volume | 34 |
Issue number | 8 |
DOIs | |
State | Published - 1 Dec 2017 |
Keywords
- Spraying
- agriculture
- human robot interaction
- machine vision
- wheeled robots
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications