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

(Willrodt, 1924 – US Patent 1506706).

(Andrew, 1940 – US Patent 2259193).

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 InitiativesCarnegie-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

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

(http://mel.autonomoussolutions.com/products/5510.html).

(www.rec.ri.cmu.edu/projects/demeter).

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 electronicsDecreased price and increased capabilities of electronics 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)

http://www.nespal.org/wireless

(www.autonomoussolutions.com)

ComponenComponentsts

• OmniStar HP DGPS

navigationnavigation

ComponenComponentstscommunicaticommunicationon• WiFI 802.11b

ComponenComponentstscommunicaticommunicationon• WiFI 802.11b

• onboard ethernet

Eth2WiFI

PC

Camera

Network Hub

ComponenComponentstssensorssensors

• WiFI netcam

Thanks for your attention!Thanks for your attention!

For more information contact:

Stuart PockneeNESPALP. O. Box 748Tifton, GA 31793229-386-7057 Voice229-386-7273 FAX

http://stuart.pocknee.comhttp://www.nespal.org