This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Performance of a Vision-Based Tractor Guidance System
Annotation ability available
Sector:
Language:
English
Abstract
A vision based tractor guidance system was designed and developed using distributed control techniques. The components and their interaction with each other are discussed. A geometric steering model was used to predict offset error based on heading error. Simulated straight crop rows were developed to test the system. Results show that the overall performance of the steering correction system was good for sufficient initial tractor orientation. The system proved to be unstable for large errors and that the geometric model incorporated was not capable of handling large heading and offset errors.
Authors
Citation
Brandon, J. and Searcy, S., "Performance of a Vision-Based Tractor Guidance System," SAE Technical Paper 901589, 1990, https://doi.org/10.4271/901589.Also In
References
- Bottoms, D.J. Stayner R.M. An initial study of the tractor driver's control and monitoring functions National Institute of Agricultural Engineering, Departmental Note No. DN/E/80/02001
- Choi, C.H. Erbach D.C. Smith R.J. 1989 Navigational tractor guidance system ASAE Paper No. 89-1026 St. Joseph, MI
- Cox, S.W.R. Harries G.O. Ambler B. 1980 Optical ranging for tractor guidance ASAE Paper No. 80-1558 St. Joseph, MI
- Crolla, D.A. 1981 An analysis of off-road vehicle steering behavior 7th International Conference of International Society for Terrain-Vehicle Systems III Calgary, Alberta, Canada
- Dickmanns, E.D. Zapp A. 1986 A curvature-based scheme for improving road vehicle guidance by computer vision Proc. of SPIE Mobile Robots 727 161 168
- Gerrish, J. Surbrook T. 1984 Mobile robots in agriculture Proceedings of the First International Conference on Robotics and Intelligent Machines in Agriculture Tampa, FL
- Kawanura, Noboru Namikawa Kiyoshi 1984 Automatic steering tractor with rotary tillary Research Report on Agricultural Engineering No. 14 Laboratory of Agricultural Engineering, Kyoto University Kyoto, Japan
- Kuan, D. Phipps G. Hsueh A. 1986 A real-time road following and road junction detection vision system for autonomous vehicles Fifth National Conference on Artificial Intelligence Philadelphia, PA
- Lukas, M.D. 1986 Distributed Control Systems Van Nostrand Reinhold Company New York, NY
- Murphy, B.R. Tennes B.R. Clemens J.R. 1984 Networked microcomputers for feedback control systems: a case study in automatic steering ASAE Paper No. 84-1079 St. Joseph, MI
- Pool, Thomas 1984 An Automatic Guidance System for Tractors with Open Center Hydraulics Texas A&M University College Station, TX
- Reid, J.F. 1987 The development of computer vision algorithms for agricultural vehicle guidance Texas A&M University
- Reid, J.F. Searcy S.W. 1988 An algorithm for separating guidance information from row crop images Transactions of the ASAE 31 6 1629 1632
- Reid, J.F. Searcy S.W. Babowicz R.J. 1985 Determining a guidance directrix in row crop images ASAE Paper No. 85-3549 St. Joseph, MI
- Rushing, Karl 1971 Developing the driverless tractor Agricultural Engineering 52 5 260 262
- Turk, M.A. Morgenthaler D.G. Gremban K.D. Marra M. 1987 Video road-following for the autonomous land vehicle IEEE Transactions on Pattern Analysis and Machine Intelligence 9 7 273 280
- Young, S.C. Schafer R.L. Johnson C.E. 1980 Optical ranging for tractor guidance ASAE Paper No. 80-1558 St. Joseph, MI