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Towards Collaboration between Unmanned Aerial and Ground Vehicles for Precision Agriculture

机译：致力于精确农业的无人机与地面车辆之间的协作

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This paper presents the work being conducted at Cal Poly Pomona on the collaboration between unmanned aerial and ground vehicles for precision agriculture. The unmanned aerial vehicles (UAVs), equipped with multispectral/hyperspectral cameras and RGB cameras, take images of the crops while flying autonomously. The images are post processed or can be processed onboard. The processed images are used in the detection of unhealthy plants. Aerial data can be used by the UAVs and unmanned ground vehicles (UGVs) for various purposes including care of crops, harvest estimation, etc. The images can also be useful for optimized harvesting by isolating low yielding plants. These vehicles can be operated autonomously with limited or no human intervention, thereby reducing cost and limiting human exposure to agricultural chemicals. The paper discuss the autonomous UAV and UGV platforms used for the research, sensor integration, and experimental testing. Methods for ground truthing the results obtained from the UAVs will be used. The paper will also discuss equipping the UGV with a robotic arm for removing the unhealthy plants and/or weeds.
机译：本文介绍了在Cal Poly Pomona进行的有关用于精确农业的无人机与地面车辆之间的协作的工作。配备多光谱/高光谱摄像头和RGB摄像头的无人机（UAV）在自动飞行时拍摄农作物的图像。图像经过后期处理或可以在船上进行处理。处理后的图像用于检测不健康的植物。无人机和无人地面车辆（UGV）可以将航空数据用于各种目的，包括农作物护理，收成估算等。这些图像还可通过隔离低产植物来优化收成。这些车辆可以在没有人为干预或没有人为干预的情况下自主运行，从而降低了成本并限制了人们对农药的接触。本文讨论了用于研究，传感器集成和实验测试的自主UAV和UGV平台。将使用从UAV获得的结果进行地面实况分析的方法。本文还将讨论为UGV配备机械臂以清除不健康的植物和/或杂草的方法。

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