Differential Flatness−based Formation following of a Simulated Autonomous Small Grain Harvesting System

Researchers around the world have focused on autonomous agriculture with systems encompassing greenhouse, orchard, field, and other applications. Research has shown the potential and ability of the technology to allow a vehicle or selection of vehicles to follow a specified task. In this study, one aspect of 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 the high fatigue and long duration aspects of the problem. Differential flatness−based formation following was tested in software and robotic simulation. The software simulation was based on an actual field track from a combine yield monitor and demonstrated the potential of the system. The robotic simulation used two iRobot Magellan Pro robots in an indoor environment and demonstrated that the methodology could be implemented in real time.