Communication between agricultural robot and mechanical weeding machine based on ISO 11783 network

Galibjon M. Sharipov*, Trim Bresilla, Ard T. Nieuwenhuizen, Jochen Hemming, Frits K. van Evert, Cristophe Aubé, Suzanne Baron, Amar Benrais, Andreas Heiß, Dimitrios S. Paraforos

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperAcademicpeer-review

1 Citation (Scopus)


Latest technologies such as advanced agriculture implements and autonomous vehicles designed with the latest sensor technologies could partially offer a solution to the challenges in agriculture that are related to crop demands, increased cost of inputs, and labor shortage. However, the compatibility, in terms of communication between the autonomous vehicle and the agricultural implements, raises the main concern. This is because most of the autonomous robotic platforms in agriculture are not compliant with existing agricultural implements that are integrated with ISO 11783 (also known as ISOBUS) standards. Besides that, there are still few agricultural processes where the implementation of ISOBUS would fulfill farmers' needs to evaluate the performance of the implements. Weeding is one of those processes as it has a significant influence on crop growth. To address the mentioned issues, this work aims at integrating an agricultural robot with an existing mechanical weeder by leveraging ISOBUS in combination with software and hardware level. To fulfill the aim, this paper outlines the development of a middleware that makes communication between the mobile robot and the weeder possible. In addition to that, the development of an implement object pool (IOP) for the representation of the weeder performance, in terms of weeding quality, and its integration with the simulated electronic control unit (ECU) of the weeder is discussed. A preliminary analysis and assessment defined the threshold of 10% for the weeding quality that raised the STOP flag for the application.

Original languageEnglish
Title of host publication22nd IFAC World Congress
Subtitle of host publicationYokohama, Japan, July 9-14, 2023
EditorsHideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Number of pages6
ISBN (Electronic)9781713872344
Publication statusPublished - 1 Jul 2023
Event22nd IFAC World Congress - Yokohama, Japan
Duration: 9 Jul 202314 Jul 2023

Publication series

ISSN (Electronic)2405-8963


Conference22nd IFAC World Congress


  • Implement Object Pool
  • Middleware
  • Weeding machine performance


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