advances in autonomous vehicles for agriculture stuart pocknee university of georgia national...
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ADVANCES IN AUTONOMOUS ADVANCES IN AUTONOMOUS VEHICLES FOR AGRICULTUREVEHICLES FOR AGRICULTURE
Stuart PockneeStuart Pocknee
University of GeorgiaUniversity of GeorgiaNational Environmentally Sound Production Agriculture National Environmentally Sound Production Agriculture
LaboratoryLaboratory
Autonomy IssuesAutonomy Issues
Labor costs & labor availabilityLabor costs & labor availability Continuity of operationsContinuity of operations Weight & cost of vehicleWeight & cost of vehicle Operator issues - safety & Operator issues - safety & fatiguefatigue
Approaches to autonomyApproaches to autonomy
Guidance with respect to previous Guidance with respect to previous pass (emulates human operator)pass (emulates human operator) Guidance with respect to pre-Guidance with respect to pre-planned path (also emulates human planned path (also emulates human operator?)operator?)
J.N. Wilson :Computers and Electronics in Agriculture 25 (2000) 3–9
Sensor systemsSensor systems
InternalInternal Machine statusMachine status
ExternalExternal PositionPosition Local feature detectionLocal feature detection
Approaches to autonomyApproaches to autonomy
Approaches to autonomyApproaches to autonomy
Mechanical feelers (ridge, furrow, Mechanical feelers (ridge, furrow, crop)crop)Buried wires/radio beaconsBuried wires/radio beaconsMachine visionMachine visionGPSGPSCompasses & “gyroscopes”Compasses & “gyroscopes”Sensor fusionSensor fusionJ.N. Wilson :Computers and Electronics in Agriculture 25 (2000) 3–9
External SensorsExternal Sensors
Farm characteristics related Farm characteristics related to autonomyto autonomy
The operating areas are large.The operating areas are large. Ground surfaces may be uneven.Ground surfaces may be uneven. Depending on the operation, wheel slippage may Depending on the operation, wheel slippage may be far from negligible.be far from negligible. Cultivation operations may interfere with Cultivation operations may interfere with underground cables, etc.underground cables, etc. Environmental conditions (rain, fog, dust, etc.) Environmental conditions (rain, fog, dust, etc.) may affect sensor observations.may affect sensor observations. Low cost systems are required.Low cost systems are required.
Hague etal. :Computers and Electronics in Agriculture 25 (2000) 11-28
Farm characteristics related Farm characteristics related to autonomyto autonomy
““Human tractor drivers perform Human tractor drivers perform many functions that are difficult many functions that are difficult
for a smart machine to for a smart machine to duplicate.” duplicate.”
Merv Kizlyk. John Deere. (2001) Farm Industry News
Research InitiativesResearch Initiatives
Carnegie-Mellon Carnegie-Mellon UniversityUniversityStanford UniversityStanford UniversityUniversity of IllinoisUniversity of IllinoisTexas A&MTexas A&MMichigan State UniversityMichigan State UniversityUniversity of KentuckyUniversity of KentuckyUniversity of FloridaUniversity of Florida
(http://www.frc.ri.cmu.edu/~axs/sprayer.html).
Sprayer Automation in CitrusSprayer Automation in Citrus
Auto-steer SystemsAuto-steer Systems
www.beeline.agwww.beeline.ag www.trimble.com/aggps_autopilot.htmlwww.trimble.com/aggps_autopilot.html www.gpsfarm.comwww.gpsfarm.com www.deere.com/en_US/ag/servicesupport/ams/www.deere.com/en_US/ag/servicesupport/ams/
mobilecomponents.htmlmobilecomponents.html www.accutrak.cawww.accutrak.ca www.outbackguidance.com/product/www.outbackguidance.com/product/
edrivefeatures.asp edrivefeatures.asp www.farmscan.net/ProductDetails.aspx?id=5400 www.farmscan.net/ProductDetails.aspx?id=5400 www.agguide.com.auwww.agguide.com.au
Autonomous Vehicle Autonomous Vehicle EnablersEnablers
Precision AgriculturePrecision Agriculture Wireless Networks & the InternetWireless Networks & the Internet High precision “stand alone” GPSHigh precision “stand alone” GPS Vehicle cooperation logicVehicle cooperation logic Improved machine visionImproved machine vision Decreased price and increased capabilities of Decreased price and increased capabilities of
electronicselectronics Vision/Imagination coupled with ResearchVision/Imagination coupled with Research DemandDemand
Precision AgriculturePrecision Agriculture
““Precision agriculture has helped advance Precision agriculture has helped advance vehicle guidance firstly in terms of vehicle guidance firstly in terms of
providing position information that is providing position information that is required for vehicle guidance. Secondly, required for vehicle guidance. Secondly,
precision agriculture has placed the notion precision agriculture has placed the notion of vehicle automation within the of vehicle automation within the
conceptual boundary of equipment conceptual boundary of equipment manufacturers and agricultural manufacturers and agricultural
producers.”producers.”
J.F. Reid et al. :Computers and Electronics in Agriculture 25 (2000)
ComponenComponentstscommunicaticommunicationon• WiFI 802.11b
• onboard ethernet
Eth2WiFI
PC
Camera
Network Hub