Robotic Simulation of the Docking and Path Following of an Autonomous Small Grain Harvesting System

Abstract

Researchers around the world have focused on autonomous agriculture, with systemsencompassing greenhouse, orchard, field and other applications. Research has shown the potential and abilityof the technology to allow a vehicle or selection of vehicles to follow a specified task. In this study, one aspectof the problem, that of operating a tractor-cart combination in conjunction with a small-grain combine harvester,was investigated. The tractor-cart combination and combine harvester application was selected because of thehigh fatigue and long duration aspects of the problem. The system was simulated using two iRobot MagellanPro robots in an indoor environment. The differential drive robots were software constrained to match thedynamics of typical agricultural vehicles. Position feedback was supplied by odometry. A small towed trailerwas added to one robot to simulate a typical grain cart.