Vision-guided Height Adaptive Micro Spraying Rover for Precision Agriculture

International Journal of Emerging Research in Science, Engineering, and Management
Vol. 2, Issue 4, pp. 89-96, April 2026.

https://doi.org/10.58482/ijersem.v2i4.12

This work is licensed under a Creative Commons Attribution 4.0 International License.

Vision-guided Height Adaptive Micro Spraying Rover for Precision Agriculture

M Manasa, E Somasekhar, B L S Vaishnavi, P Muni Ruthvik,K Divya, P Bharathi

Department of ECE, Gokula Krishna College of Engineering, Sullurpet, India.

Full Text PDF

Abstract: : This study examines a pesticide spraying system that adapts to the height of the plants. A depth sensor and a spraying system with several nozzles at various heights in a vertical direction are part of the system. An automatic guided vehicle (AGV) is equipped with the full system. Plant recognition and plant height computation are essential for the system with fixed nozzle height in order to conduct precision spraying or automatic targeting. Since the plant height has been determined, the planned system will open one or more of the spraying system’s nozzles. A plant height-adaptive pesticide spraying system based on a video sensor to handle the plant’s shape is suggested as a solution to the plant height-adaptive problem. The spraying system’s open or closed state is optimized for various plants with varying heights, and both the depth and color data of the figure are collected and examined. Numerous experimental findings have shown that the suggested system is regarded as well.

Keywords: Depth sensor, height-adaptive, precision spraying, automatic guided vehicle, Machine vision.

References: 

  1. G P. Sabatier et al., “Long-term relationships among pesticide applications, mobility, and soil erosion in a vineyard watershed,” Proceedings of the National Academy of Sciences, vol. 111, no. 44, pp. 15647–15652, Oct. 2014, doi: 10.1073/pnas.1411512111.
  2. S. Stehle and R. Schulz, “Agricultural insecticides threaten surface waters at the global scale,” Proceedings of the National Academy of Sciences, vol. 112, no. 18, pp. 5750–5755, Apr. 2015, doi: 10.1073/pnas.1500232112.
  3. G. Doruchowski and R. Holownicki, “Environmentally friendly spray techniques for tree crops,” Crop Protection, vol. 19, no. 8–10, pp. 617–622, Sep. 2000, doi: 10.1016/s0261-2194(00)00081-8.
  4. R. Oberti et al., “Selective spraying of grapevines for disease control using a modular agricultural robot,” Biosystems Engineering, vol. 146, pp. 203–215, Jan. 2016, doi: 10.1016/j.biosystemseng.2015.12.004.
  5. H. R. Karimi and H. Gao, “Notice of Violation of IEEE Publication Principles: New Delay-Dependent Exponential Synchronization for Uncertain Neural Networks With Mixed Time Delays,” in IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 40, no. 1, pp. 173-185, Feb. 2010, doi: 10.1109/TSMCB.2009.2024408.
  6. J. S. West, C. Bravo, R. Oberti, D. Lemaire, D. Moshou, and H. A. McCartney, “The Potential of Optical Canopy Measurement for Targeted Control of Field Crop Diseases,” Annual Review of Phytopathology, vol. 41, no. 1, pp. 593–614, Sep. 2003, doi: 10.1146/annurev.phyto.41.121702.103726.
  7. A. Malneršič, M. Dular, B. Širok, R. Oberti, and M. Hočevar, “Close-range air-assisted precision spot-spraying for robotic applications: Aerodynamics and spray coverage analysis,” Biosystems Engineering, vol. 146, pp. 216–226, Jan. 2016, doi: 10.1016/j.biosystemseng.2016.01.001.
  8. S. Das, J. Joy, E. K. Wiafe, and X. Sun, “A vision-guided robotic system with coordinated 2D motion for intelligent target spraying in controlled agricultural environments,” Journal of Agriculture and Food Research, vol. 24, p. 102420, Oct. 2025, doi: 10.1016/j.jafr.2025.102420.
  9. K. Lochan, A. Khan, I. Elsayed, B. Suthar, L. Seneviratne, and I. Hussain, “Advancements in precision Spraying of Agricultural Robots: A Comprehensive review,” IEEE Access, vol. 12, pp. 129447–129483, Jan. 2024, doi: 10.1109/access.2024.3450904.
  10. Y. Luo, X. He, H. Shi, S. X. Yang, L. Song, and P. Li, “Design and development of a precision spraying control system for orchards based on machine Vision detection,” Sensors, vol. 25, no. 12, p. 3799, Jun. 2025, doi: 10.3390/s25123799.
  11. W. Li et al., “A sustainable crop protection through integrated technologies: UAV-based detection, real-time pesticide mixing, and adaptive spraying,” Scientific Reports, vol. 15, no. 1, p. 35748, Oct. 2025, doi: 10.1038/s41598-025-19473-x.
  12. A. T. Meshram, A. V. Vanalkar, K. B. Kalambe, and A. M. Badar, “Pesticide spraying robot for precision agriculture: A categorical literature review and future trends,” Journal of Field Robotics, vol. 39, no. 2, pp. 153–171, Oct. 2021, doi: 10.1002/rob.22043.
Download PDF

This article is part of Volume 2, Issue 4 (April 2026)