Engineering Commons^™

Communications, Decision-Making, And Interactions Of A Multi-Agent Autonomous Vehicle System, Daniel Davis Smith

LSU Doctoral Dissertations

Autonomous vehicles are becoming ever more common and offer many attractive benefits to society. They can operate for long periods of time unattended, operate in environments that may be dangerous to humans, perform time consuming or repetitive tasks and all with greater efficiency and lower costs than humans. For these vehicles to be able to do these things, algorithms need to be designed and optimized that allow them to interact with the real-world environment in safe, effective, and efficient ways.

We designed and built a set of three homogeneous water-based autonomous surface vehicles equipped with appropriate sensors and communications ability …

Lessons To Be Learned In Adoption Of Autonomous Equipment For Field Crops, James Lowenberg-Deboer, Karl Behrendt, Melf-Hinrich Ehlers, Carl R. Dillon, Andreas Gabriel, Iona Yuelu Huang, Ian Kumwenda, Tyler Mark, Andreas Meyer-Aurich, Gabor Milics, Kehinde Oluseyi Olagunju, Søren Marcus Pedersen, Jordan M. Shockley, David Rose

Agricultural Economics Faculty Publications

Autonomous equipment for crop production is on the verge of technical and economic feasibility, but government regulation may slow its adoption. Key regulatory issues include requirements for on-site human supervision, liability for autonomous machine error, and intellectual property in robotic learning. As an example of the impact of regulation on the economic benefits of autonomous crop equipment, analysis from the United Kingdom suggests that requiring 100% on-site human supervision almost wipes out the economic benefits of autonomous crop equipment for small and medium farms and increases the economies-of-scale advantage of larger farms.

Flex-Ro: A Robotic High Throughput Field Phenotyping System, Joshua N. Murman

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Research in agriculture is critical to developing techniques to meet the world’s demand for food, fuel, fiber, and feed. Optimization of crop production per unit of land requires scientists across disciplines to collaborate and investigate new areas of science and tools for data collection. The use of robotics has been adopted in several industries to supplement labor, and accurately perform repetitious tasks. However, the use of autonomous robots in commercial agricultural production is still limited. The Flex-Ro (Flexible structured Robotic platform) was developed for use in large area fields as a multipurpose tool to perform monotonous agricultural tasks.

This work …

Event And Time-Triggered Control Module Layers For Individual Robot Control Architectures Of Unmanned Agricultural Ground Vehicles, Tyler Troyer

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Automation in the agriculture sector has increased to an extent where the accompanying methods for unmanned field management are becoming more economically viable. This manifests in the industry’s recent presentation of conceptual cab-less machines that perform all field operations under the high-level task control of a single remote operator. A dramatic change in the overall workflow for field tasks that historically assumed the presence of a human in the immediate vicinity of the work is predicted. This shift in the entire approach to farm machinery work provides producers increased control and productivity over high-level tasks and less distraction from operating …

Relative Cross Track Error Calculations In Asabe/Iso 12188-2:2012 And Power/Energy Analysis Using A 20 Hp Tractor On A Fully Electric Drivetrain, Joseph D. Rounsaville

Theses and Dissertations--Biosystems and Agricultural Engineering

ASABE/ISO Standard 12188-2 provides test procedures for positioning and guidance systems in agricultural vehicles during straight and level travel. The standard provides excellent descriptions of test procedures, however it does not provide detail on methods to carry out the calculations necessary to calculate relative cross-track error (XTE), which is the primary measurement used to judge accuracy of the system. The standard was used to estimate the guidance accuracy of a relatively low-accuracy vehicle at 1.25 and 0.5 m s^-1. At 1.25 m s^-1, a nearest point calculation overestimated mean XTE by 0.8 cm, or 8.2%. The …

Methods For Calculating Relative Cross-Track Error For Asabe/Iso Standard 12188-2 From Discrete Measurements, Joseph D. Rounsaville, Joseph S. Dvorak, Timothy S. Stombaugh

Biosystems and Agricultural Engineering Faculty Publications

ASABE/ISO Standard 12188-2 provides test procedures for positioning and guidance systems in agricultural vehicles during straight and level travel. While the standard provides excellent descriptions of test procedures, it does not provide detail on methods to carry out the calculations necessary to calculate relative cross-track error (XTE), which is the primary error statistic used to judge accuracy. Given the travel speed and sampling constraints provided by the standard, the difference between a method based on nearest points or one based on path interpolation could hypothetically be as large as 25 cm. In this project, the standard was used to estimate …