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Autonomous Tractors
Clint Cosgrove
BAE/ SOIL 4213
Spring 2007
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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)
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Autonomy
Guidance Implement Control Obstacle Avoidance Self Awareness
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Guidance Options
Programmed Path RTK GPS DGPS
Self-Determined Path Cameras Radar
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Implement Control
Sensors Height End of Row
Computer Actuation
Electrohydraulic Electronic
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Obstacle Avoidance
Known Obstacles GIS Maps Beacons
Unknown Obstacles RADAR/ SONAR Cameras
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Self Awareness
Temperature Fuel Level Malfunctions Broken Parts
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Existing Autonomous Tractors
NREC Orchard Sprayer University of Kentucky Autonomous Tractor Demeter Automatic Harvester
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NREC Orchard Sprayer
Guidance: GPS, Dead Reckoning Sensors, and Cameras
Implement Control: Undisclosed Obstacle Avoidance: Under Development Self Awareness: None
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UKAT
Guidance: DGPS Implement Control: GIS Based Obstacle Avoidance: None Self Awareness: None
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The Demeter Project
Guidance: DGPS and/ or Cameras
Implement Control: Fully Autonomous Obstacle Avoidance: Cameras Only Self Awareness: None
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Liability
Community Acceptance
Accident Responsibility
Damage Potential
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The Future
Obstacle Avoidance
Multiple Machines
Self Awareness
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Questions
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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