{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,15]],"date-time":"2026-06-15T14:44:15Z","timestamp":1781534655547,"version":"3.54.5"},"reference-count":23,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T00:00:00Z","timestamp":1778889600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"crossref"}]},{"id":[{"id":"https:\/\/ror.org\/04atp4p48","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>This study proposes an intelligent spraying vehicle speed control system integrating real-time canopy density detection with a fuzzy PID control algorithm. Utilizing LiDAR-acquired 3D point cloud data for canopy density calculation, the system dynamically adjusts PID parameters through fuzzy logic to achieve coordinated optimization of vehicle speed and spray volume. Based on the designed canopy density prediction model, a MATLAB\/Simulink co-simulation framework integrating canopy perception with vehicle dynamics was established. Simulation results based on the MATLAB\/Simulink platform demonstrate that the fuzzy PID controller achieves superior performance compared to conventional PID control. While maintaining a tracking accuracy of \u00b10.15 m\/s, the proposed controller reduces speed overshoot by 5.8 percentage points. The developed control system ensures optimal speed tracking under varying canopy conditions, providing an extensible technical framework for intelligent sprayer vehicles.<\/jats:p>","DOI":"10.3390\/a19050400","type":"journal-article","created":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T12:36:40Z","timestamp":1779107800000},"page":"400","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Fuzzy PID Speed Control System for Sprayer Vehicles Based on Canopy Density"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9609-6964","authenticated-orcid":false,"given":"Yanxin","family":"Wang","sequence":"first","affiliation":[{"name":"College of Agricultural Engineering and Food Science, Shandong University of Science and Technology, Zibo 255000, China"},{"name":"Department of Engineering, Harper Adams University, Newport TF10 8NB, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7990-1407","authenticated-orcid":false,"given":"Nwabueze","family":"Emekwuru","sequence":"additional","affiliation":[{"name":"Department of Engineering, Harper Adams University, Newport TF10 8NB, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chengqian","family":"Jin","sequence":"additional","affiliation":[{"name":"College of Agricultural Engineering and Food Science, Shandong University of Science and Technology, Zibo 255000, China"},{"name":"Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Areas, Nanjing 210014, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6347-7696","authenticated-orcid":false,"given":"Fernando","family":"Auat Cheein","sequence":"additional","affiliation":[{"name":"Department of Engineering, Harper Adams University, Newport TF10 8NB, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,5,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"110097","DOI":"10.1016\/j.compag.2025.110097","article-title":"Dense object detection based canopy characteristics encoding for precise spraying in peach orchards","volume":"232","author":"Xu","year":"2025","journal-title":"Comput. 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