Ridge-Tracking for Strawberry Harvesting Support Robot According to Farmer’s Behavior

研究成果: Chapter

1 被引用数 (Scopus)


In Japan, the amount of agricultural production decreases year-by-year. Moreover, reduction in agricultural work population and increase of abandonment of cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot “MY DONKEY®” which supports transportation of harvested crops and records the farm work of the user and crop yield in field map while moving closer to the user. In order to move in the furrowed field, it is necessary to detect ridges and furrows where the robot can move using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. Furthermore, to realize smooth harvesting support, we propose a ridge-tracking control according to user’s behavior based on the recognition of the work contents of the user such as harvesting, loading of harvested crops to the robot, transportation, and movement. We propose the ridge-tracking control framework based on fuzzy set theory which can evaluate and integrate multiple situations and carry out experiments in strawberry farm.

ホスト出版物のタイトルSpringer Proceedings in Advanced Robotics
出版社Springer Science and Business Media B.V.
出版ステータスPublished - 2021


名前Springer Proceedings in Advanced Robotics

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学
  • 機械工学
  • 工学(その他)
  • 人工知能
  • コンピュータ サイエンスの応用
  • 応用数学


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