Architecture of an autonomous agricultural tractor: hardware, software, and control systems
| Authors: | Eaton Ray, The University of New South Wales, Australia
Katupitiya Jayantha, The University of New South Wales, Australia
Cole Anthony, The University of New South Wales, Australia
Meyer Craig, The University of New South Wales, Australia |
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| Topic: | 8.1 Control in Agriculture |
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| Session: | Mechatronics in Agriculture |
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| Keywords: | Agriculture, autonomous vehicles, cascade control, vehicle dynamics, traction control |
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Abstract
Using a compact agricultural tractor, an automated mobile platform is being developed to support precise agricultural tasks. The task being considered is fruit picking, however the platform developed should be generic. The need for precise control of the tractor, loader mechanism and the task implement attached to the tractor, is paramount. Development of the automated mobile platform can be broken down into various components, namely, the steering, loader, and traction control systems, and safety system. Development for each system includes modifications to hardware, and design of appropriate software to drive the systems automatically. Much work is needed to provide the expert control for the types of precision tasks envisaged. Preliminary work shows simple control of the steering and loader systems.
