The Demeter System for Automated Harvesting

Authors:
Thomas Pilarski;Michael Happold;Henning Pangels;Mark Ollis;Kerien Fitzpatrick;Anthony Stentz
Affiliations:
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA. temp@rec.ri.cmu.edu;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA. happ@rec.ri.cmu.edu;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA. mollis@appliedperception.com;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA. axs@frc2.frc.ri.cmu.edu
Venue:
Autonomous Robots
Year:
2002

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Abstract

Automation of agricultural harvesting equipment in the near term appears both economically viable and technically feasible. This paper describes the Demeter system for automated harvesting. Demeter is a computer-controlled speedrowing machine, equipped with a pair of video cameras and a global positioning sensor for navigation. Demeter is capable of planning harvesting operations for an entire field, and then executing its plan by cutting crop rows, turning to cut successive rows, repositioning itself in the field, and detecting unexpected obstacles. In August of 1997, the Demeter system autonomously harvested 40 hectares (100 acres) of crop in a continuous run (excluding stops for refueling). During 1998, the Demeter system harvested in excess of 48.5 hectares (120 acres) of crop, cutting in a variety of fields.