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Development and implementation of a team of robotic tractors for autonomous peat moss harvesting
Author(s) -
Johnson David A.,
Naffin David J.,
Puhalla Jeffrey S.,
Sanchez Julian,
Wellington Carl K.
Publication year - 2009
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20297
Subject(s) - automation , peat , robot , field (mathematics) , engineering , interface (matter) , systems engineering , simulation , computer science , artificial intelligence , operating system , mechanical engineering , ecology , mathematics , bubble , maximum bubble pressure method , pure mathematics , biology
This paper describes the key system components of a team of three tractors in a peat moss harvesting operation. The behavior and actions of the tractors were designed to mimic manual harvest operations while maintaining a safe operating environment. To accomplish this objective, each of the three tractors was equipped with a bolt‐on automation package, and a human operator (team leader) was given a remote user interface to command and monitor the mission. The automation package included positioning, planning, and control, as well as coordination and perception systems to preserve field harvesting order, detect obstacles, and report physical changes in the operating environment. The system performed more than 100 test field harvesting missions during one season in a working peat bog, including three complete system tests with the end users. © 2009 Wiley Periodicals, Inc.