SOFTWARE AND HARDWARE COMPLEX FOR AUTONOMOUS TRACTOR CONTROL WITH OBSTACLE AVOIDANCE SUPPORT

Justification.The creation of reliable autonomous agricultural machines requires a comprehensive solution to the problems of navigation, perception of the environment and control in real time. Despite the existing developments, the issues of creating a unified software and hardware complex that ensures movement and avoidance of obstacles in real conditions remain relevant. The purpose of the work is to develop such a complex for an unmanned tractor. The goal is to develop and test a software and hardware complex for autonomous tractor control that ensures movement along a given trajectory with high accuracy, an all—round view of the environment, classification of static and dynamic obstacles, and performing a detour or emergency stop maneuver in accordance with the selected operating mode. Methods.In the course of the work, a modular software architecture was developed, implemented on an NVIDIA microcomputer. The hardware package includes a GNSS receiver with RTK correction support, a machine vision system (4 all-round cameras and a radar), an operator's tablet console and a wireless communication system. Computer vision algorithms for detecting and classifying obstacles, trajectory control algorithms based on GNSS RTK positional data, and a finite state machine for controlling the operating modes of the system were used for data processing. The functionality was tested using virtual simulation methods. Results.As a result of the development, a hardware and software complex was created that meets all the technical requirements. The hardware architecture is specified. The software is implemented as a set of interconnected modules responsible for navigation, motion control, machine vision and operator interface. The developed web interface allows the operator to set routes, select operating modes ("stop" or "detour") and monitor the system status in real time. Integration tests have confirmed the system's operability and fault tolerance. Conclusion.A software and hardware complex has been developed that has demonstrated during virtual tests the ability to move the tractor autonomously along a given trajectory and avoid obstacles. The key advantages of the solution are modularity and scalability.