Automation of an Agricultural Tractor for Fruit Picking

This paper presents the hardware and software architectures of a compact agricultural tractor, that is currently being developed as a generic mobile platform for agricultural tasks. The specific task that is being addressed is fruit picking. Such systems require precision outdoor maneuvering and coordination with the implement attached to the vehicle. The system described also includes a loader attached to the front of the tractor which carries the fruit picking robot. First the hardware associated with the safety subsystem, steering, traction and loader control systems are described. Then the real-time software that coordinates the control of all subsystems while maintaining a functional radio link to a remote station is described.