Autonomous Tractors

Clint Cosgrove

BAE/ SOIL 4213

Spring 2007

Definitions

Autonomous Not controlled by others or by outside

forces (American Heritage Dictionary) Tractor

A powerful motor-driven vehicle used for pulling farm machinery (Random House Unabridged Dictionary)

Autonomy

Guidance Implement Control Obstacle Avoidance Self Awareness

Guidance Options

Programmed Path RTK GPS DGPS

Self-Determined Path Cameras Radar

Implement Control

Sensors Height End of Row

Computer Actuation

Electrohydraulic Electronic

Obstacle Avoidance

Known Obstacles GIS Maps Beacons

Unknown Obstacles RADAR/ SONAR Cameras

Self Awareness

Temperature Fuel Level Malfunctions Broken Parts

Existing Autonomous Tractors

NREC Orchard Sprayer University of Kentucky Autonomous Tractor Demeter Automatic Harvester

NREC Orchard Sprayer

Guidance: GPS, Dead Reckoning Sensors, and Cameras

Implement Control: Undisclosed Obstacle Avoidance: Under Development Self Awareness: None

UKAT

Guidance: DGPS Implement Control: GIS Based Obstacle Avoidance: None Self Awareness: None

The Demeter Project

Guidance: DGPS and/ or Cameras

Implement Control: Fully Autonomous Obstacle Avoidance: Cameras Only Self Awareness: None

Liability

Community Acceptance

Accident Responsibility

Damage Potential

The Future

Obstacle Avoidance

Multiple Machines

Self Awareness

Questions

References

http://www.frc.ri.cmu.edu/~axs/doc/ans99.pdf

http://www.bae.uky.edu/tstomb/autonomous_vehicle.htm

http://www.frc.ri.cmu.edu/~axs/sprayer.html

http://www.agriculture.purdue.edu/ssmc/newsletters/autonomo us%20tractor%20SSMC%20newsletter%20280202b.htm