Weed-removal system based on artificial vision and movement planning by A* and RRT techniques

ABSTRACT. The recent exploration of autonomous robotics tasks in agro-industry has permitted the integration of theories of artificial vision and mobile robotics with tasks in precision agriculture. Artificial vision allows for the classification of weeds and crops from images of plantations. With 3D-image processing systems, the location of the weeds is determined, and then the movement of the tool responsible for eradication is proposed. This article presents the solution for finding weeds within a crop field using classifiers and the integration of a 3D-vision system that builds a point clo...