<p>Weed control is nowadays a hi-tech discipline. Inter-row weed control is very sophisticated </p><p>whereas the intra-row weed control lacks a lot. The aim of this pro ject is to implement </p><p>an embedded system of an autonomous vision based intra-row weeding robot. Weed and </p><p>crops can be distinguished due to several attributes like colour, shape and context fea- </p><p>tures. Using an emebedded system has several advantages. The embedded system is </p><p>specialized on video processing and is designed to withstand the needs of outdoor use. </p><p>This embedded system is already able to distinguish between weed and crops. The per- </p><p>formance of the hardware is very good whereas the software still needs some optimizations.</p>

Weed control is nowadays a hi-tech discipline. Inter-row weed control is very sophisticated whereas the intra-row weed control lacks a lot. The aim of this pro ject is to implement an embedded system of an autonomous vision based intra-row weeding robot. Weed and crops can be distinguished due to several attributes like colour, shape and context fea- tures. Using an emebedded system has several advantages. The embedded system is specialized on video processing and is designed to withstand the needs of outdoor use. This embedded system is already able to distinguish between weed and crops. The per- formance of the hardware is very good whereas the software still needs some optimizations.

Master of Science / Department of Biological & Agricultural Engineering / Daniel Flippo / Robotic vehicles have the potential to play a key role in the future of agriculture. For this to happen designs that are cost effective, robust, and easy to use will be necessary. Robotic vehicles that can pest scout, monitor crop health, and potentially plant and harvest crops will provide new ways to increase production within agriculture. At this time, the use of robotic vehicles to plant and harvest crops poses many challenges including complexity and power consumption. The incorporation of small robotic vehicles for monitoring and scouting fields has the potential to allow for easier integration of robotic systems into current farming practices as the technology continues to develop. Benefits of using unmanned ground vehicles (UGVs) for crop scouting include higher resolution and real time mapping, measuring, and monitoring of pest location density, crop nutrient levels, and soil moisture levels. The focus of this research is the ability of a UGV to scout pest populations and pest patterns to complement existing scouting technology used on UAVs to capture information about nutrient and water levels. There are many challenges to integrating UGVs in conventionally planted fields of row crops including intra-row and inter-row maneuvering. For intra-row maneuvering; i.e. between two rows of corn, cost effective sensors will be needed to keep the UGV between straight rows, to follow contoured rows, and avoid local objects. Inter-row maneuvering involves navigating from long straight rows to the headlands by moving through the space between two plants in a row. Oftentimes headland rows are perpendicular to the row that the UGV is within and if the crop is corn, the spacing between plants can be as narrow as 5”. A vehicle design that minimizes or eliminates crop damage when inter-row maneuvering occurs will be very beneficial and allow for earlier integration of robotic crop scouting into conventional farming practices. Using three fixed HC-SR04 ultrasonic sensors with LabVIEW programming proved to be a cost effective, simple, solution for intra-row maneuvering of an unmanned ground vehicle through a simulated corn row. Inter-row maneuvering was accomplished by designing a transformable tracked vehicle with the two configurations of the tracks being parallel and linear. The robotic vehicle operates with tracks parallel to each other and skid steering being the method of control for traveling between rows of corn. When the robotic vehicle needs to move through narrow spaces or from one row to the next, two motors rotate the frame of the tracks to a linear configuration where one track follows the other track. In the linear configuration the vehicle has a width of 5 inches which allows it to move between corn plants in high population fields for minimally invasive maneuvers. Fleets of robotic vehicles will be required to perform scouting operations on large fields. Some robotic vehicle operations will require coordination between machines to complete the tasks assigned. Simulation of the path planning for coordination of multiple machines was studied within the context of a non-stationary traveling salesman problem to determine optimal path plans.