1. Autonomous Tractors Clint Cosgrove BAE/ SOIL 4213 Spring 2007

2. Definitions Autonomous  Not controlled by others or by outside forces (American Heritage Dictionary) Tractor  A powerful motor-driven vehicle used for pulling farm machinery (Random House Unabridged Dictionary)

3. Autonomy Guidance Implement Control Obstacle Avoidance Self Awareness

4. Guidance Options Programmed Path  RTK GPS  DGPS Self-Determined Path  Cameras  Radar

5. Implement Control Sensors  Height  End of Row Computer Actuation  Electrohydraulic  Electronic

6. Obstacle Avoidance Known Obstacles  GIS Maps  Beacons Unknown Obstacles  RADAR/ SONAR  Cameras

7. Self Awareness Temperature Fuel Level Malfunctions Broken Parts

8. Existing Autonomous Tractors NREC Orchard Sprayer University of Kentucky Autonomous Tractor Demeter Automatic Harvester

9. NREC Orchard Sprayer Guidance: GPS, Dead Reckoning Sensors, and Cameras Implement Control: Undisclosed Obstacle Avoidance: Under Development Self Awareness: None

10. UKAT Guidance: DGPS Implement Control: GIS Based Obstacle Avoidance: None Self Awareness: None

11. The Demeter Project Guidance: DGPS and/ or Cameras Implement Control: Fully Autonomous Obstacle Avoidance: Cameras Only Self Awareness: None

12. Liability Community Acceptance Accident Responsibility Damage Potential

13. The Future Obstacle Avoidance Multiple Machines Self Awareness

14. Questions

15. References http://www.frc.ri.cmu.edu/~axs/doc/ans99.pdf http://www.bae.uky.edu/tstomb/autonomous_vehicle.htm http://www.frc.ri.cmu.edu/~axs/sprayer.html http://www.agriculture.purdue.edu/ssmc/newsletters/autonomo us%20tractor%20SSMC%20newsletter%20280202b.htm