Autonomous Spraying
Description



Remote operator interface

The initial focus of the project was the design of the retrofit kit for converting the 6410 tractor to an autonomous vehicle. One of the key requirements was that after the retrofit the vehicle is still drivable by a human like a normal tractor, in order to facilitate the path recording process. Since the vehicle was not drive-by-wire, the NREC developed actuators for braking, steering and speed control.

To achieve the path teach/playback capability, NREC developed a positioning system that uses an extended Kalman Filter for fusing the odometry, the GPS information and the IMU measurements. The path following system is based on the Pure Pursuit algorithm. More information about the performance of the system can be found in our "Autonomous Robots” paper.