Human-Following Control in Furrow For Agricultural Support Robot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


In Japan, the reduction in agricultural work population and increase in abandoned cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot that supports the transportation of harvested crops while it follows the user. To move in the furrowed field, ridges and furrows where the robot can move must be detected using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. However, when the robot follows the user ahead of it, it has difficulty detecting the ridges because of occlusion by the user. In addition, the robot requires to follow the user and move in and out of furrows of different widths in the farm field. To achieve smooth and safe harvesting support in the field with different width furrows, we propose a method for ridge detection and tracking by measuring the furrow width and interpolation using an RGB-D camera and a method for human-following control while avoiding ridges according to the ridge observation state using fuzzy set theory. To verify the proposed methods, experiments in the farm are carried out.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
EditorsMarcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages10
ISBN (Print)9783030958916
Publication statusPublished - 2022
Event16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
Duration: 2021 Jun 222021 Jun 25

Publication series

NameLecture Notes in Networks and Systems
Volume412 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online


  • Agricultural robot
  • Following control
  • Harvesting support
  • Ridge detection

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications


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