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Autonomous Tractors

This document explores the concept of autonomous tractors, defining autonomy, tractor functionalities, and the technology supporting them. Key areas include obstacle avoidance, implement control, and self-awareness, highlighting existing systems like the NREC Orchard Sprayer and the Demeter Automatic Harvester. Guidance techniques such as GPS and camera systems are discussed, along with future challenges in liability, community acceptance, and the development of obstacle avoidance technologies. A comprehensive overview invites reflection on the future of autonomous farming machinery.

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Autonomous Tractors

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  1. Autonomous Tractors Clint Cosgrove BAE/ SOIL 4213 Spring 2007

  2. 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)

  3. Autonomy • Guidance • Implement Control • Obstacle Avoidance • Self Awareness

  4. Guidance Options • Programmed Path • RTK GPS • DGPS • Self-Determined Path • Cameras • Radar

  5. Implement Control • Sensors • Height • End of Row • Computer • Actuation • Electrohydraulic • Electronic

  6. Obstacle Avoidance • Known Obstacles • GIS Maps • Beacons • Unknown Obstacles • RADAR/ SONAR • Cameras

  7. Self Awareness • Temperature • Fuel Level • Malfunctions • Broken Parts

  8. Existing Autonomous Tractors • NREC Orchard Sprayer • University of Kentucky Autonomous Tractor • Demeter Automatic Harvester

  9. NREC Orchard Sprayer • Guidance: GPS, Dead Reckoning Sensors, and Cameras • Implement Control: Undisclosed • Obstacle Avoidance: Under Development • Self Awareness: None

  10. UKAT • Guidance: DGPS • Implement Control: GIS Based • Obstacle Avoidance: None • Self Awareness: None

  11. The Demeter Project • Guidance: DGPS and/ or Cameras • Implement Control: Fully Autonomous • Obstacle Avoidance: Cameras Only • Self Awareness: None

  12. Liability • Community Acceptance • Accident Responsibility • Damage Potential

  13. The Future • Obstacle Avoidance • Multiple Machines • Self Awareness

  14. Questions

  15. 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

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