Natural Environment Modeling and Fault-Diagnosis for Automated Agricultural Vehicle

Morten Rufus Blas, Mogens Blanke

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper presents results for an automatic navigation system for agricultural vehicles. The system uses stereo-vision, inertial sensors and GPS. Special emphasis has been placed on modeling the natural environment in conjunction with a fault-tolerant navigation system. The results are exemplified by an agricultural vehicle following cut grass (swath). It is demonstrated how faults in the system can be detected and diagnosed using state of the art techniques from fault-tolerant literature. Results in performing fault-diagnosis and fault accomodation are presented using real data.
Original languageEnglish
Title of host publicationProceedings 17. IFAC World Congress
PublisherElsevier
Publication date2008
Pages1590-1595
DOIs
Publication statusPublished - 2008
Event17th IFAC World Congress - Seoul, Korea, Republic of
Duration: 6 Jul 200811 Jul 2008

Conference

Conference17th IFAC World Congress
CountryKorea, Republic of
CitySeoul
Period06/07/200811/07/2008

Keywords

  • Autonomous vehicles in agriculture
  • Image analysis in agriculture

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