Robotics 2014, 3(1), 83-105; doi:10.3390/robotics3010083

Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRA

1email, 2email, 3email and 2,* email
Received: 10 October 2013; in revised form: 20 February 2014 / Accepted: 6 March 2014 / Published: 20 March 2014
(This article belongs to the Special Issue Agricultural Robots)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: This paper presents a robotized small tractor designed to perform humanitarian demining operations and agricultural operations when demining is accomplished. This dual use makes this system unique. The focus is on the design of the machine, including the modeling for design and control, the characteristics of the tools operated by the machine, the motion control at tele-operated, and semi-autonomous levels. The mechatronic design process applied uses sustainable design strategies. Technical contributions are in the tractor architecture, designed to make automation easier, and in the control functions implemented on this architecture. Extensive field tests were performed in different sites; first, in Italy, focusing on the agricultural application of the machine, in natural scenarios with different ground and vegetation; then, in two real mine fields in Jordan focusing on the performance for technical survey in humanitarian demining. The tests have confirmed the performance for both task categories (agricultural and demining), confirming the correctness of the statement. For the demining application, the machine has been assessed by professional users confirming the acceptance to field use and the novelty of the concept.
Keywords: agricultural automation; ground processing; 4WD articulated steering mobile platform; mechatronic design; modular tractor; articulated steering dynamic model; field tests
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MDPI and ACS Style

Cepolina, E.E.; Przybyłko, M.; Polentes, G.B.; Zoppi, M. Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRA. Robotics 2014, 3, 83-105.

AMA Style

Cepolina EE, Przybyłko M, Polentes GB, Zoppi M. Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRA. Robotics. 2014; 3(1):83-105.

Chicago/Turabian Style

Cepolina, Emanuela E.; Przybyłko, Michał; Polentes, Giovanni B.; Zoppi, Matteo. 2014. "Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRA." Robotics 3, no. 1: 83-105.

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