Desenvolvimento de um protótipo de veiculo autônomo para pulverização de videiras

Abstract

The main objective of this work is to present the development of a prototype of an autonomous vehicle on a reduced scale for spraying agricultural pesticides in vineyards, aiming to make life easier for winegrowers and reduce exposure to agrochemicals. The implementation of this vehicle will enable precision agriculture, minimizing risks to the environment and the health of rural workers, who frequently use personal protective equipment (PPE) inappropriately. To achieve this objective general, six specific objectives were defined that guided the development of the prototype. Being them: design a vehicle system in the form of a prototype, choose a sensing system for vehicle location in a rural scenario, choose a platform for prototype development, study the rural scenery in a vine field, develop a vehicle control algorithm and finally, test navigation in a prototype environment. The methodology used covered the analysis of the movement of the autonomous vehicle and the choice of materials used in its construction, such as the LIDAR laser sensor, the raspberry pi control board and the MPU-9250 module. In addition, detailed studies were carried out on the preparation of the cart for carrying out the tests. The results obtained demonstrated satisfactory performance that met the project requirements, presenting an innovative solution that contributes to the modernization of agriculture, protecting workers from dangerous tasks and promoting safer and more efficient agricultural production. [resumo fornecido pelo autor]