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Obstacle Detection and Avoidance for Autonomous Combine Harvester

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  2018 ASABE Annual International Meeting  1800737.(doi:10.13031/aim.201800737)
Authors:   Michihisa IIDA, Ryo ASADA, Yifan ZHANG, Masahiko SUGURI, Ryohei MASUDA
Keywords:   Autonomous vehicles, collision avoidance, head-feeding combine, 3D LIDAR, stereo vision

Abstract. In order to solve shortage and aging of working force in agriculture, automation and robotalization of agricultural machinery are promoted rapidly. It is, however, necessary to secure the safety of robotic operation and prevent accidents. To secure the safety of robotic harvesting operation, obstacle detection and avoidance systems by a 3D LIDAR and a stereo camera are developed. In order to evaluate performance of these systems, field test was conducted in a rice paddy field. Test results indicated that the autonomous combine can harvest rice crop safely while avoiding obstacle and human being.

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