A Multi-Control Strategy to Achieve Autonomous Field Operation

Nowadays, there are several methods of controlling a robot depending on the type of agricultural environment in which it operates. In order to perform a complete agricultural task, this paper proposes a switching strategy between several perception/control approaches, allowing us to select the most appropriate one at any given time. This strategy is presented using an electrical tractor and three control approaches we have developed: path tracking, edge following and furrow pursuing. The effectiveness of the proposed development is tested through full-scale experiments in realistic field environments, performing autonomous navigation and weeding operations in an orchard and an open field. The commutation strategy allows us to select behavior depending on the context, with a good robustness with respect to different sizes of crops (maize and bean). The accuracy stays within ten centimeters, allowing us to expect the use of robots to help with the development of agroecological principles.