A method for identifying a trajectory between rows of a plantation by means of a radar interfaced with processing means of an agricultural vehicle, the method comprising the following steps in the same order: acquisition of an approximate distance (D) between two consecutive rows of the plantation, acquisition of signals by said radar, processing of said signals to obtain a two-dimensional map of points corresponding to reflections picked up by said radar, first linear interpolation to obtain a first interpolating line (IN1) on the points of greatest intensity, second windowing of an elongated area of the two-dimensional map having an axis of development approximately parallel to said first interpolating straight line and at said approximate distance (D) from said first interpolating line, second linear interpolation of a second interpolating straight line (IN2) on points of greater intensity in the windowed area, calculation of a trajectory (T) parallel and intermediate between said first and second interpolating straight line.

AUTONOMOUS DRIVING SYSTEM THROUGH ROWS OF A PLANTATION

Davoli Alessandro
Software
;
Di Viesti Pasquale
Visualization
;
Vitetta Giorgio Matteo
Supervision
2019

Abstract

A method for identifying a trajectory between rows of a plantation by means of a radar interfaced with processing means of an agricultural vehicle, the method comprising the following steps in the same order: acquisition of an approximate distance (D) between two consecutive rows of the plantation, acquisition of signals by said radar, processing of said signals to obtain a two-dimensional map of points corresponding to reflections picked up by said radar, first linear interpolation to obtain a first interpolating line (IN1) on the points of greatest intensity, second windowing of an elongated area of the two-dimensional map having an axis of development approximately parallel to said first interpolating straight line and at said approximate distance (D) from said first interpolating line, second linear interpolation of a second interpolating straight line (IN2) on points of greater intensity in the windowed area, calculation of a trajectory (T) parallel and intermediate between said first and second interpolating straight line.
2019
WO2021123415A1
Davoli Alessandro; Di Viesti Pasquale; Ferrari Luca; Guerzoni Giorgio; Vitetta Giorgio Matteo;
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/846029
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