Abstract
The capability of detecting and identifying obstacles on the expected path and taking appropriate collisionavoidance actions automatically is critical for safe operation of autonomous agricultural vehicles. This article presents anobstacle detection and identification algorithm for an on-tractor laser range finder-based obstacle detector. This algorithmconsists of a template matching function and a Kalman filter for detecting the location of an obstacle, reconstructing thesilhouette of the detected obstacle, and estimating its relative motions. Field validation test results verified that this obstacledetector was capable of detecting a moving object within a semicircle of 8 m radius and reconstructing a 2D silhouette ofthe obstacle progressively in real time. The errors of this obstacle detector in estimating the position, speed, and movingdirection of the obstacle relative to the tractor were 0.052 m, 0.11 m s-1, and 1.2, respectively. Such accuracies are sufficientfor providing safety warning and collision avoidance for autonomous tractors in field operation.
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