Theses and Dissertations

ORCID

https://orcid.org/0009-0003-8597-1948

Advisor

Gharakhani, Hussein

Committee Member

Lowe, John

Committee Member

Chen, Jingdao

Date of Degree

5-15-2026

Original embargo terms

Immediate Worldwide Access

Document Type

Graduate Thesis - Open Access

Major

Engineering (Biosystems Engineering)

Degree Name

Master of Science (M.S.)

College

James Worth Bagley College of Engineering

Department

Department of Agricultural and Biological Engineering

Abstract

Plastic contamination in cotton reduces fiber quality, causing an estimated $600 to $750 losses annually for the U.S. cotton industry. This work developed an RTK-GNSS-based UGV navigation for a collaborative UAV-UGV plastic retrieval system. An Amiga rover was adopted and modified, and a closed-loop PD steering control based on cross-track and heading error was developed and deployed in it. The first set of tests was conducted on a 111 m A-B line on a flat lane based on ASABE/ISO 12188-2 guidelines, then repeated in a cotton field. The P50 and P95, and max cross-track errors were about 1, 5, and 14 cm on the flat lane, and 1, 3, and 13.5 cm in the cotton field, respectively. The second set of tests evaluated waypoint following. On the test lane, the median stop error was 1.4 cm, and the average radial stop error was 3.4 cm. In the cotton field within crop rows, the median stop error was 1.2 cm, and the average radial stop error was 6.5 cm.

Sponsorship (Optional)

Cotton Incorporated, USDA-ARS, MAFES

Download

Share

COinS