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Descripción
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| A LiDAR (Light Detection And Ranging) sensor is a non-contact optical device that measures the distance to an object in a scanning field using the TOF (Time-Of-Flight) technique. It has a high operation range, being able to perform accurate measurements under hostile environmental conditions such as fog, dust, or smoke. Thus, LiDAR seems to be a reliable sensor that allows a general application to various agricultural needs, such as: estimation of the volumes of a crop, assessment during its development, its location, as well as to reduce the risks arising from the mobility of agricultural vehicles, especially if we consider the role that robotics and automation can play. The personal challenge of the author and therefore the main motivation for the development of this document is to demonstrate the successful general use of a LiDAR sensor. Thereby, and considering the above exposed the Thesis objectives could be stated as: 1. Implementation of the LiDAR to ensure safe movement of an autonomous tractor unit within a multi-agent environment. 2. Evaluate different options in order to reduce the manpower required when performing tree characterization through the use of a LiDAR. 3. Compare, under same conditions, the performance of a LiDAR sensor in contrast to other optical sensors for tree characterization. 4. Conduct an accurate and temporal crop characterization by the use of a LiDAR. Each of the agricultural LiDAR applications carried out is grouped into separate chapters, in which the experiments performed and the methodologies developed for each one of them are explained. Finally, this document offers a general discussion and conclusions of all the works performed for the four LiDAR applications in the frame of this Ph.D. Thesis (three peer reviewed journals (two published, and one in progress), three international and national congresses, and one international workshop). | |
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Internacional
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Si |
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ISBN
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Tipo de Tesis
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Doctoral |
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Calificación
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Sobresaliente cum laude |
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Fecha
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29/01/2016 |