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IVG-UAV: An Intelligent Voice-Guided UAV System for Autonomous Ripe Fruit Harvesting with Vision-Based Classification and Adaptive Path Planning

2026-10-07 03:59:03
Dinh Trung Duong
arXiv_RO
               
Abstract

In tropical regions, their agricultural sectors remain highly dependent on manual labor for fruit harvesting. On large-scale farms, this dependency often results in significant labor cost and logistic complexities. This project presents the development and simulation of a voice-controlled Unmanned Aerial Vehicle (UAV) system designed to automate harvesting tasks in extensive plantations. The proposed system integrates speech recognition using Whisper [1] and LLM, computer vision-based ripeness classification, and adaptive path planning within a unified framework. The entire system is modeled and validated in a Gazebo simulation environment, allowing performance evaluation under controlled agricultural scenarios

Abstract (translated)

URL

https://arxiv.org/abs/2610.09398

PDF

https://arxiv.org/pdf/2610.09398.pdf

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