Mechatronics & control
Vision-guided multi-servo nozzle spot spraying
Overview
A complete perception-to-actuation prototype that converts weed coordinates into nozzle assignments, steering angles, timing compensation, and sequential spray commands.
Watch demonstrations
- Platform
- Husky A200
- Nozzles
- Three servo-steered
- Steering
- Up to ±35° evaluated
- Control
- Vision + timing + ACO
Nozzle validation and laboratory system demonstration
These demonstrations show the complete laboratory system operating as a coordinated unit and isolate the multi-nozzle steering mechanism for direct validation of servo response and spray-bar motion.
Multi-servo nozzle validation
Independent nozzle movement demonstrates the steering range and coordinated mechanical response used to direct spray toward laterally distributed weed targets.
1 / 2Integrated laboratory performance
The moving robotic platform, live perception interface, target zones, system logs, and spray execution are shown operating together under controlled laboratory conditions.
2 / 2Research Challenge
Weeds occur at irregular lateral positions near trunks, where fixed nozzles may miss targets or expose non-target tree tissue.
Engineering Approach
- Calibrate pixel-to-ground mapping and camera-to-nozzle offset.
- Assign targets to three nozzle zones and compute steering commands.
- Use rule-based logic and ant colony optimization for conflicts and scheduling.
- Evaluate servo response, hit accuracy, and water-sensitive-paper coverage.
Measured Performance
- Steady-state servo error
- <1°
- Observed settling-time range
- 108–265 ms
- Dynamic hit rate at 0°
- 93.7%
- Direct and sequenced scheduling
- 100%
Significance
The prototype demonstrates a mechanically flexible alternative to uniform broadcast treatment and fixed-nozzle spot spraying.