Elements of the mathematical support for the design of an autonomous tractor

Abstract

The article discusses the issue of substantiating the requirements for the location of passive benchmarks as part of a local complex of precision farming in its minimum configuration. As such, we consider a mobile chassis (for example, a wheeled agricultural tractor) equipped with an autonomous control system and a set of two or three passive benchmarks. References are given to works that reveal the technologies that are in demand in the design of the chassis of such a tractor and a description of the test equipment used in the design and debugging of units and assemblies of robotic machines. Within the framework of the concept under consideration, it is important that the complex combines the capabilities of autonomous, remote and manual control and is based on a mobile chassis that meets the necessary ergonomic requirements. The considered simplest system can be built into a structure that uses satellite positioning technologies and supports the principle of organizing multi-agent systems. The object of the research is a local complex of precision farming in the minimum composition: an autonomous agricultural tractor and a set of passive benchmarks. The purpose of the study is to determine the basic requirements for the selection of sites for the installation of passive benchmarks. The basic technology is the use of binary maps of permeability as a variant of the discrete working plan of an autonomous robotic complex. The technology for building maps of cross-country ability has been worked out when creating models of rovers and special vehicles. The paper illustrates the actual method of solving the problem in its mathematical interpretation, provides the main results and practical recommendations. It is shown that the proposed solutions can be extended to the areas of the forest engineering and logging industry, to the solution of logistic problems of the Far North, the territories of the Arctic and Antarctic.