Steps towards an Autonomous Field Scout and Sampling System

摘要

<abstract> <b>Abstract.</b> We have developed the framework for creating an autonomous field scout (AFS) consisting of a ground vehcle for collecting physical samples and an aerial system working that collects images of plants during the growqing season. Images will be processed to creat 3-D structure of plants and then examined over time to look for trends that may indicate early onset plant stress. The ground system (red rover) will then navigate to those locations identified through aerial imaging and experts analysis and collects leaf and/or soil samples as needed. The rover will return to base and the leaf samples examined by an expert and or sent for laboratory analysis to confirm specific pathogens or soil nutrient deficiencies. Ealry detercvtion and more accurate scouting information is a major goal of the system. In the first year of development, we have identified the components and begun assembly of the rover and testing of the robotic arm for leaf and soil sampling. Data will be collected using a tractor, GNSS and a UAS this year until the red rover is ready for operation in year 2. The system will be developed in the ROS, which has integrated OpenCV and Point Cloud Library, for navigation and control.