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This paper discusses a development in the use of sensors for autonomous agricultural machinery. Using a lawnmower platform we have developed simple autonomous functionality using both absolute position reference systems (GPS and laser positioning sensors) and a relative position sensor (machine vision). These systems have been implemented separately, and it is now desirable to combine them for designing more complex trajectories and gaining sensor redundancy.

The techniques implemented for this are designed for low cost embedded computing with uploaded trajectories. A simple unified coordinate framework is used to attempt to reduce computing requirements, and simple maps are designed, but with the intent of developing more complex mapping in the future. This also discusses a referencing system for using absolute position systems to track the trajectory when a relative position system is being used for guidance, and discusses possible methods for using that to correct a wayward relative path.