Agriculture Reference
In-Depth Information
human intervention. Two cameras and GNSS were used for navigation and obstacle
detection.
Algorithms for operating leader-follower systems were developed by Noguchi
et al. (2004). In this system, the lead machine is controlled manually, and the algo-
rithms enable the autonomous follower machine to either follow or go to a particular
location commanded by the lead machine. Vougioukas (2009) proposed a method
for coordinating a team of autonomous machines where one lead machine specifies
the motion characteristics of one or more “followers.” The simulation experiments
verified the method used for coordinated motion of hierarchies of leader-follower.
Complementing the efforts of researchers are equipment manufacturers such as
Kinze Manufacturing Inc. (Williamsburg, IA, USA), which is collaborating with
JayBridge Robotics (Cambridge, MA, USA) to develop an autonomous grain cart
system for row crop production. Using a computer in the combine, the grain wagon
can be summoned for unloading the grain. During this autonomous operation, the
tractor and cart finds the combine in the field and positions itself next to the combine
to receive the grain. The system is in testing and evaluation stages and is not avail-
able commercially. Deere and Company is working with researchers at the Carnegie
Mellon Robot Institute to develop autonomous peat harvesters (Figure 5.13). Peat
moss was harvested during 100 tests in a peat bog in one season without human
intervention (Johnson et al., 2009). Another project involving unmanned machinery
is to enable a single, remote user to supervise a fleet of semiautonomous tractors
mowing and spraying in an orchard (Zeitzew, 2007; and Moorehead et al., 2009).
Researchers at the Technical University of Denmark (Madsen and Jakobsen,
2001) developed an autonomous robot prototype specifically for weed mapping.
This robot was developed to mitigate the adverse effects of weed species such as
waterhemp that are developing glyphosate resistance (Grift et al., 2006). French and
Spanish institutions in collaboration with equipment manufacturers developed a
FIGURE 5.13
Autonomous peat moss harvester developed in conjunction with Carnegie
Mellon Robot Institute. (Johnson, D.A. et al.,
J. Field Robotics
, 26, 549-571, 2009. With
permission.)
