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ARPA PC1 - Qualification of trajectory execution accuracy of crop production robots (out-door mobility).

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ARPA PC1 - Qualification of trajectory execution accuracy of crop production robots (out-door mobility).

Version: 1.9

  • arable farming
  • horticulture
  • greenhouse
  • tree crops
  • viticulture
  • test design
  • test setup
  • test execution
  • collection of test data
  • performance evaluation
  • physical system
  • other (including: nothing)
  • Location: in France
  • Offered by: INRAE



This test qualifies the dynamic trajectory-following accuracy of agricultural robot(s) (working alone or in cooperation). In particular, the test evaluates the accuracy of execution of a typical proposed path, incorporating typical sections for different agricultural work phases, different terrain relief configurations, and other types of disturbance.

The machine performs a loop trajectory composed of straight and circular sections, as well as headland trajectories enabling it to make significant course changes (e.g., half-turns). The reference trajectory to be performed, depending on the size and capabilities of the machine, is set up beforehand in the area where the machine is to be used.

At the customer's request, the course can take in sloping areas with a constant gradient (10%, 20%) and run at different angles of incidence (e.g., 30°, 45°, 90°). The working environment (presence of rows of vegetation, height of vegetation, width between rows, etc.) is artificially reproduced according to the robot's use. Different types of disturbance (e.g., positive and negative obstacles of different sizes) can be introduced into the path at the customer's request.

This test is monitored using a reference positioning system (laser tracker), which makes it possible to obtain, with millimetre accuracy, the theoretical trajectory to be followed, the robot's actual trajectory, its speed and its position throughout the test. The dynamic behaviour of the machine is recorded during the test, and compliance with the requirements is checked where necessary. The tests are repeated at least 3 times per modality.

A technical representative from the robot manufacturer must be present during the test to configure the system to be tested appropriately, check that it is operating correctly, allow information to be checked and attend the testing.

Technical and user manuals must be supplied in advance by the manufacturer to prepare the tests and compile the test report.

This test service is provided by INRAE - TSCF - AgroTechnoPôle, with SHERPA Engineering, as Test Operator, using the resources available at the Montoldre site In France.