Development of Autonomous Hand Tractor’s Prototype Navigation using Vision-Based System for Obstacle Detection and Multipoint Tracking System for Philippine Agricultural Fields

摘要

The status of Philippine Agriculture in the present is at risk, given that the agricultural output decreases by 1.27% in the second quarter of 2019 [1]. This was attributed to the decline in crop production and lack of labor. These issues require modern and practical solutions. This research aims to develop an autonomous hand tractor agricultural machine using a Vision-Based System for obstacle detection with GPS and Multipoint Tracking System for the navigation. With the help of the Pixhawk as the main controller, GPS and compass module and Vision-Based System using the microcontroller called Raspberry Pi are all used for the autonomous hand tractor to test the accuracy and utility of the agricultural machine. The test was conducted in a prototype and the navigation and vision system can be implemented in various tractors making them autonomous.