Development of a teleoperation system for agricultural vehicles

Murakami, Noriyuki; Ito, Akinori; Will, Jeffrey D.; Steffen, Michael; Inoue, Kazumichi; Kita, Kiyoshi; Miyaura, S.

doi:10.1016/j.compag.2008.01.015

Cited by 41 publications

(31 citation statements)

References 2 publications

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“…This concept is used wherever it is considered useful to combine the computational efficiency, precision, or sturdiness of machines with the perception ability and decision-making processes of humans. As a result, teleoperation technology for robotic systems has been considered, developed, or used for a large spectrum of tasks, e.g., for work in mining (Duff et al, 2009), nuclear facilities (Qian, Song, Bao, & Zhang, 2012), agriculture (Murakami et al, 2008), surgery (Tobergte, Konietschke, & Hirzinger, 2009), space robotics (Yoon et al, 2004), and even surgery in space (Haidegger & Benyo, 2008).…”

Section: Related Workmentioning

confidence: 99%

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Westerberg

Shiriaev

2013

Journal of Human-Robot Interaction

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Virtual environment-assisted teleoperation has great potential as a human-robot interaction paradigm for field robotic systems, in particular when combined with elements of automation. Unstructured outdoor environments present a complex problem with many challenging elements. For the specific application of forestry machines, we investigate which steps are required in order to implement such a system, what potential benefits there are, and how individual components can be adapted to efficiently assist forestry machine operators in their daily work in the near future. An experimental prototype of a teleoperation system with virtual environment-based feedback is constructed using a scenario-based design process. The feasibility of the implementation is partly verified through experimental studies.

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Section: Related Workmentioning

confidence: 99%

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Westerberg

Shiriaev

2013

Journal of Human-Robot Interaction

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Section: A Hardwarementioning

confidence: 99%

Development of an intelligent master-slave system between agricultural vehicles

Zhang

Geimer

Noack³

et al. 2010

2010 IEEE Intelligent Vehicles Symposium

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Abstract-This paper presents a method to develop an intelligent master-slave system between agricultural vehicles, which will enable a semi-autonomous agricultural vehicle (slave) to follow a leading tractor (master) with a given lateral and longitudinal offset. In our study not only the follow-up motions but also the site-specific control of the apparatus such as rear and front power lift was considered. In the first part of this paper the recent research works in the area autonomous farming were discussed and the restrictions of these research works were illustrated. In the second part an approach to construct a master-slave system between two agricultural vehicles was demonstrated. In the next part the mathematic modeling of this master-slave system and the simulation results about the control algorithm were demonstrated. Afterwards the result of a real field test was presented and the safety considerations about such an intelligent vehicle system were made. I. INTRODUCTIONhe agricultural farming industry is facing significant challenges at present. The global competition for a higher productivity in the agriculture has made demands on more cooperation between agricultural machines. The decreasing number of farming labor force and the higher labor costs in the agricultural industry is a significant issue for the European agriculture. As a response to mechanized and site-specific farming, more and more GPS-guidance is utilized in modern farming to meet the demands on precision agriculture and has made possible to guide the agricultural vehicles autonomously. For example, with the commercial real-time kinematic (RTK) GPS systems the accuracy of the positioning can reach 1 to 2 cm per 10 km [1].In the past ten years, many research works have been carried out to develop an automated agricultural vehicle to replace the labor workforce in the farming operation. In [2] an automatic steering system was developed to guide a John Deere 7800 tractor along prescribed straight row courses with an average error of approximately 2 cm. In [3] a robot tractor was developed based on RTK-GPS and gyroscope to provide navigation information for the path tracking. Such field robot with auto-steering systems are capable of steering along target lines automatically, but the application of such autonomous agricultural vehicles can only be confined to a laboratory environment, where obstacles and other safety related problems could be foreseen.To solve the safety problems in the real field operations many other high-tech sensors have been used to sense the surrounding environment of the farming vehicles. In [4] a machine vision based guidance system was demonstrated for an autonomous agricultural small-grain harvester using a cab-mounted camera. In the recent years laser or laser radar (ladar) have been more and more applied in autonomous vehicles to detect obstacles for the safety reasons. In [5] ladar has been used to navigate a small robot tractor through an orchard field. However most of the solutions have been successfully realiz...

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“…Because of the normally large acreage of a farm, a wide-coverage mobile communication device with real-time link ability must be chosen to satisfy the requirements for such an inter-vehicle communication [17]. The wireless connection has been successfully established using two modems working on the 2.4 GHz ISM band and on the 869 MHz band respectively.…”

Section: A Hardwarementioning

confidence: 99%

Method for an electronic controlled platooning system of agricultural vehicles

Zhang

Geimer²,

Grandl

et al. 2009

2009 IEEE International Conference on Vehicular Electronics and Safety (ICVES)

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-This paper presents a method to develop an electronic controlled platooning system, which will enable an autonomous agricultural vehicle to follow a leading tractor with a given lateral and longitudinal offset. In our study not only the follow-up motions but also the problems such as avoiding obstacle, turning at the end of the field have been considered. With the aid of the RTK GPS systems the position of the leading tractor can be obtained with accuracy in the range of centimeters. The position points of the leading tractor are transmitted by wireless modems to the following vehicle continually to provide the target position points for the guidance of the following agricultural vehicle. With the method of curve fitting a desired path for the following vehicle could be dynamically created. Based on the target position points and the path planning, the desired speed and the desired steering angle of the following tractor are calculated. In order to ensure the precise navigation of the driverless following tractor, a course tracking controller and a speed controller have to be designed and implemented. In addition to the motion control algorithms which could keep the autonomous agricultural vehicle following the leading tractor, considerations about safety and robustness of the whole platooning control system would be issued at the end of this paper.

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Development of a teleoperation system for agricultural vehicles

Cited by 41 publications

References 2 publications

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Development of an intelligent master-slave system between agricultural vehicles

Method for an electronic controlled platooning system of agricultural vehicles

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