This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Vision Assisted Tractor Guidance for Agricultural Vehicles
Annotation ability available
Sector:
Language:
English
Abstract
Computer algorithms were developed for generating the guidance parameters necessary to steer an agricultural tractor. A variety of field operations were considered in order that the guidance program be suited for general applications including travel in curved rows and following a single edge. Testing of the guidance algorithm was performed in the laboratory using simulated and videotaped images of rowcrops and tilled soil. From the images, yaw angle change of the tractor, direction value and offset error were computed. Prediction of the direction value and offset error compared well to measured values. Accuracy of the direction value was within +/- 0.5 degrees while the offset error was within +/- 0.05 meters. Good performance was observed for straight and curved rows as well as following a single edge.
Recommended Content
Citation
Brandon, J. and Searcy, S., "Vision Assisted Tractor Guidance for Agricultural Vehicles," SAE Technical Paper 921650, 1992, https://doi.org/10.4271/921650.Also In
References
- Bottoms, D.J. Stayner R.M. 1982 An initial study of the tractor driver's control and monitoring functions National Institute of Agricultural Engineering, Departmental Note No. DN/E/80/02001
- Palmer, R.J. Matheson S.K. 1988 Impact of navigation on farming ASAE Paper No. 88-1602 St. Joseph, MI
- Kaminaka, M.S. Rehkugler G.E. Gunkel W.W. 1981 Visual monitoring in a simulated agricultural machinery operation Human Factors 23 2 165 173
- Becker, W.J. Shoup W.D. Sinden J.V. 1983 Field measurement and analysis of operator speed-load stress ASAE Paper 83-1628 St. Joseph, MI
- Rushing, K. 1971 Developing the driverless tractor Agricultural Engineering 52 5 260 262
- Young, S.C. Johnson C.E. Schafer R.L. 1983 A vehicle guidance controller Transactions of the ASAE 26 5 1340 1345
- Pool, T. 1984 An Automatic Guidance System for Tractors with Open Center Hydraulics Unpublished Master's Thesis Texas A&M University College Station, TX
- Electrodyne Corporation 1989 Electronic guidance systems for row crop agriculture operations Denison Texas 75020
- Tri-R Innovations 1989 Cat-Whiskers Electronic guidance system for row crop cultivation Tri-R Innovations, Inc. Sangamon, Illinois 60936
- Cox, S.W.R. Harries G.O. Ambler B. 1980 Optical ranging for tractor guidance ASAE Paper No. 80-1558 St. Joseph, MI
- Kawamura, N. Namikawa K. 1984 Automatic steering tractor with rotary tillary Research Report on Agricultural Engineering No. 14, Laboratory of Agricultural Engineering Kyoto University Kyoto, Japan
- Murphy, B.R. Tennes B.R. Clemens J.R. 1984 Networked microcomputers for feedback control systems ASAE Paper No. 84-1079 St. Joseph, MI
- Choi, C.H. Erbach D.C. Smith R.J. 1989 Navigational tractor guidance system ASAE Paper No. 89-1026 St. Joseph, MI
- Larsen, W.E. Tyler D.A. Nielsen G.A. 1991 Using the GPS satellites for precision navigation In Proceedings of Automated Agriculture for the 21st Century 201 208
- Turk, M.A. Morgenthaler D.G. Gremban K.D. Marra M. 1987 IEEE Transactions on Pattern Analysis and Machine Intelligence 9 7 273 280
- Kuan, D. Phipps G. Hsueh A. 1986 A real-time road following and road junction detection vision system for autonomous vehicles In Fifth National Conference on Artificial Intelligence Philadelphia, PA
- Gerrish, J. Surbrook T. 1984 Mobile robots in agriculture In Proceedings of the First International Conference on Robotics and Intelligent Machines in Agriculture Tampa, FL
- Fehr, B. Gerrish J. 1989 Vision-guided off-road vehicle ASAE Paper No. 89-7516 St. Joseph, MI
- Von Qualen, K.E. Hummel J.W. Reid J.F. 1991 Machine vision system for field sprayer guidance In Proceedings of Automated Agriculture for the 21st Century 192 200
- Reid, J.R. Searcy S.W. Babowicz R.J. 1985 Determining a guidance directrix in row crop images ASAE Paper No. 85-3549 St. Joseph, MI
- 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
- Ballard, D.H. Brown C.M. 1982 Computer Vision Prentice Hall, Inc. Englewood Cliffs, NJ
- Dickmanns, E.D. Zapp A. 1986 A curvature-based scheme for improving road vehicle guidance by computer vision In Proceedings of SPIE Mobile Robots 727 161 168
- Mysliwetz, B.D. Dickmanns E.D. 1987 Distributed scene analysis for autonomous road vehicle guidance In Proceedings of SPIE Mobile Robots II 852 72 79
- Kuan, D. Phipps G. Hsueh A. 1986 A real-time road following and road junction detection vision system for autonomous vehicles In Fifth National Conference on Artificial Intelligence Philadelphia, PA
- Ralston A. Rabinowitz P. 1978 A First Course in Numerical Analysis McGraw-Hill Book Company New York
- Brown, Ron 1990 Although extremely powerful, polynomial curve fitting springs hidden surprises Personal Engineering and Instrumentation News April 57 61