Obstacle detection, localization, and avoidance for autonomous robotic seeding**

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Labor cost and availability are identified as the biggest challenges facing Canadian agriculture. The DOT Technology Corporation, as a part of the SeedMaster, is to create an autonomous power unit that acts as a primary locomotion system for carrying a multitude of farm implements used for seeding, fertilizing, and tilling. This simple autonomous power unit will enable farmers to employ a number of farm functions through a shared, smaller, and economical locomotion base, called DOT. While there is a huge body of literature on autonomous navigation of wheeled robots/vehicles in indoor/outdoor applications, the research in the realm of autonomous machines used in farms remains at its infancy. ****The plan of the company is to meet the challenges of delivering low cost, yet real-world robotic solutions for performing tasks in the agriculture industry. The company plans to create an autonomous power unit that acts as a primary locomotion system (namely DOT) for carrying a multitude of farm implements used for seeding, fertilizing, pruning and tilling. The objectives of this project are to enhance reliability of farm mobility system (DOT) by developing: (i) advanced obstacle detection, localization, and avoidance techniques using an RGB\D camera, instead of pre-sketched maps ignoring mobile obstacles and more importantly human beings; and (ii) accurate crop-row detection and tracking method to enable image-based localization and path planning of the robot to maximize operation efficiency (e.g., conducting farming tasks such as seeding evenly across the field). ****Development and integration of the proposed methods will expand the company's market and competitiveness. In addition to the benefits to the company, the proposed work will create training and job opportunities for the graduate students and postdoctoral fellows engaged in this project and/or its continuation.**