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Effective supervision of a tractor fleet

AutorConesa-Muñoz, Jesús ; Emmi, Luis Alfredo ; González-de-Soto, Mariano; Ribeiro Seijas, Ángela
Palabras claveSupervision
Tractor fleet
Modular/Hierarchical architecture
Fecha de publicación21-may-2014
EditorProducción Gráfica Multimedia
CitaciónSecond International Conference on Robotics and Associated High-Technologies and Equipment for Agriculture and Forestry (RHEA-2014): 579-587 (2014)
ResumenThis paper describes a supervisor system to monitor automated agricultural vehicles. The supervision system consists of a program that gathers and analyzes, continuously and in real time, the information provided by subsystems on board the vehicles, and notifies the user when it detects a failure, such as an inappropriate working speed or the wrong valve state. To develop this system, a modular and hierarchical architecture is proposed and used. Simple low level supervisors, only able to detect easy failures in small systems, are combined to build more complex, higher level supervisors able to detect more complex problems. The system was tested with automated tractors during the execution of a real agricultural task, spraying herbicide for selective weed treatment. The system successfully supervised the task, detecting the failures that arose. According to these results, it is concluded that the system proposed is a highly useful tool to manage fleets of agricultural vehicles
Aparece en las colecciones: (CAR) Comunicaciones congresos
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