Mobile Robotic Teams Applied to Precision Agriculture

Conference · Thu Apr 01 04:00:00 EST 1999

OSTI ID:9048

McKay, M D ^[1]; Anderson, M O; Flann, N S ^[2]; Kinoshita, R A; Gunderson, R W; Willis, W D ^[3]

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1. Lockheed Martin Idaho Technologies Company
2. Utah State University
3. INEEL

The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University�s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

• Research Organization: Idaho National Engineering and Environmental Laboratory, Idaho Falls, ID
• Sponsoring Organization: USDOE Office of Environmental Management (EM)
• DOE Contract Number: AC07-94ID13223
• OSTI ID: 9048
• Report Number(s): INEEL/CON-98-001276; ON: DE00009048
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
44 INSTRUMENTATION
INCLUDING NUCLEAR AND PARTICLE DETECTORS
99 GENERAL AND MISCELLANEOUS
Agriculture
Algorithms
Demonstration Programs
Planning
Robots