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Autonomous Tractors

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.

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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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