Patent Publication Number: US-11026415-B2

Title: Robotic agricultural system and method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present CONTINUATION application claims the benefit under 35 U.S.C. 120 of U.S. application Ser. No. 15/151,280, filed May 10, 2016, now U.S. Pat. No. 9,877,470, issued Jan. 30, 2018, and entitled ROBOTIC AGRICULTURAL SYSTEM AND METHOD, which is incorporated by reference herein in its entirety, and of related co-pending U.S. application Ser. No. 15/250,279, filed Aug. 29, 2016, and entitled ROBOTIC AGRICULTURAL SYSTEM AND METHOD, which is incorporated by reference herein in its entirety. 
    
    
     BACKGROUND 
     1. Field of the Invention 
     The present invention pertains to agricultural equipment, in general, and robotic agricultural spraying equipment, in particular. 
     2. Background Technology 
     Modern agricultural equipment can be hazardous and labor-intensive to operate. For example, current orchard spraying devices have exposed appendages and exposed moving parts that produce an aerosol of chemicals dangerous for human consumption. This is particularly the case when pesticides and fungicides are being sprayed on the orchard trees. Equipment operators are required to wear confining respirators and goggle to avoid incidental contact with the sprayed agent. Additionally, current orchard spraying devices can be clumsy and difficult to operate in an environment of a dense tree canopy, where the boughs of the trees hang low and the space between trees is thereby limited. Typical equipment contacts the low-hanging tree boughs and may cause injury to the trees. Also, the operator must be confined in a protective cab to prevent being jabbed and whipped by a low hanging tree canopy. Moreover, operation of modern agricultural equipment can be a slow and tedious affair. Operators must stop periodically to remove their protective gear, to get rested, hydrated and fed, in addition to rest stops. As a result, equipment operation progresses in fits and starts, continually limited by exhaustion and injury, governmental restrictions, and basic human needs. What is needed is an automated, robotic agricultural system that obviates the need for the human operators who are at risk by operating an existing equipment. 
     SUMMARY OF THE INVENTION 
     Selected embodiments herein provide a robotic agriculture system, including an autonomous delivery vehicle, configured to autonomously deliver a predetermined amount of premixed solution over a predefined path, wherein the predefined path is identified by an autonomous delivery vehicle forward-looking sensor. Certain selected embodiments include a second autonomous delivery vehicle, configured to autonomously deliver a second premixed solution over a second predefined path, the second predefined path identified by a second forward-looking sensor. In some embodiments, the robotic agriculture system also includes a mobile control center, configured to wirelessly inform the autonomous delivery vehicle of the predefined path and to confirm that the autonomous delivery vehicle is following the predefined path. In some embodiments, the robotic agriculture system may also include a mapper vehicle, the mapper vehicle generating the predefined path within the predefined area. The mapper vehicle is configured to communicate information about the predefined path and the predefined area to the command center, wherein the mapper vehicle senses the predefined path with a mapper vehicle forward-looking sensor. 
     In other certain selected embodiments, the autonomous delivery vehicle further includes a vehicle chassis with a front and a rear; hydraulic motors attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle in a selected direction; a hydraulic pump attached to the vehicle chassis and fluidly coupled to the hydraulic motors; and a motive engine mechanically coupled to, and configured to drive, the hydraulic pump, and attached to the vehicle chassis. The autonomous delivery vehicle additionally includes a dispersal fan, attached to the vehicle chassis rear, and coupled to the motive engine; and a solution pump attached to the vehicle chassis and coupled to the motive engine. The autonomous delivery vehicle can include a vehicle control unit (VCU) coupled to the autonomous delivery vehicle forward-looking LiDAR sensor and the autonomous delivery vehicle GPS sensor, the VCU generating a vehicle command based on the autonomous delivery vehicle forward-looking LiDAR sensor sensing the predefined path and the autonomous delivery vehicle GPS sensor sensing the predefined area, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the autonomous delivery vehicle responding to at least one vehicle command. In the embodiments of the autonomous delivery vehicle also includes a sprayer system, which has a reservoir for holding a premixed solution; the solution pump coupled to the reservoir; and spray nozzles coupled to the solution pump, wherein the vehicle command is a spray command causing the solution pump to deliver the premixed solution from the reservoir to the spray nozzles, wherein the nozzles cause the premixed solution to be ejected from the autonomous delivery vehicle. 
     In embodiments of the autonomous delivery vehicle, the VCU receives at least one sensed input from at least one of a steering sensor, a speed sensor, a clutch pressure sensor, a flowmeter sensor, or a sprayer system pressure sensor, wherein the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the VCU issuing a vehicle command responsive to the at least one sensed input and the autonomous delivery vehicle responding to the vehicle command. In other selected embodiments, the autonomous delivery vehicle includes a vehicle chassis with a front and a rear; and a motive engine attached to the vehicle chassis. The vehicle also includes a hydraulic system having hydraulic motors attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle in a selected forward-backward direction. The hydraulic system also has a hydraulic steering apparatus that motivates the autonomous delivery vehicle in a selected right-left direction. The vehicle also has a hydraulic pump attached to the vehicle chassis, fluidly coupled to the hydraulic motors and the hydraulic steering apparatus, and mechanically coupled to the motive engine. A dispersal fan is provided, attached to the vehicle chassis rear, and coupled to the motive engine. In addition, the vehicle has a sprayer system, including a reservoir for holding a premixed solution, a solution pump coupled to the reservoir, and spray nozzles coupled to the solution pump, wherein the dispersal fan and the solution pump are selectively caused to operate by the motive engine, and wherein the solution pump is operated to deliver the premixed solution from the reservoir to the spray nozzles, wherein the dispersal fan creates a forced air stream ejected from the autonomous delivery vehicle, and wherein the nozzles cause the premixed solution to be ejected into the forced air stream. 
     In yet other selected embodiments, the autonomous delivery vehicle may include a vehicle control unit (VCU) coupled to the autonomous delivery vehicle forward-looking LiDAR sensor and the autonomous delivery vehicle at least one GPS sensor, the VCU generating a vehicle command based on the autonomous delivery vehicle forward-looking LiDAR sensor sensing the predefined path and the autonomous delivery vehicle GPS sensor sensing the predefined area, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the autonomous delivery vehicle responding to at least one vehicle command. In still other selected embodiments, the autonomous delivery vehicle has a collision avoidance system attached to the front chassis of the autonomous delivery vehicle. In still other selected embodiments, the collision avoidance system includes the autonomous delivery vehicle forward-looking LiDAR sensor sensing an obstruction on the predefined path, wherein sensing the obstruction causes the autonomous delivery vehicle to stop. In yet other selected embodiments, the autonomous delivery vehicle has a collision mitigation system attached to the front vehicle chassis of the autonomous delivery vehicle, wherein the collision mitigation is a bumper on the autonomous delivery vehicle chassis front, wherein contact with the bumper causes the autonomous delivery vehicle to stop. 
     Other embodiments of the robotic agriculture system includes a remote control, independent of the autonomous delivery vehicle chassis, the remote control wirelessly and selectably coupleable to the autonomous delivery vehicle, the remote control being configured to over-ride autonomous action and operate at least one of steering, propulsion, clutch, spray system pressure, spray, or E-Stop functions. 
     Other selected embodiments provide a robotic orchard spraying system, which includes autonomous delivery vehicles, a mobile control center, a mapper vehicle, and a nurse truck. The autonomous delivery vehicles are configured to autonomously deliver a respective predetermined amount of a premixed solution over a respective predefined path within a respective predefined area, the respective predefined path identified by a respective autonomous delivery vehicle forward-looking LiDAR sensor and the respective predefined area being identified by a respective autonomous delivery vehicle GPS sensor, the respective autonomous delivery vehicles having respective premixed solution tanks in the chassis proper and an up-sloped front profile. Also, the mobile control center is configured to wirelessly inform the autonomous delivery vehicles of the respective predefined path within the respective predefined areas and to confirm that the autonomous delivery vehicles are following the respective predefined path within the respective predefined area. In addition, the mapper vehicle generates the respective predefined path within the respective predefined area. The mapper vehicle is configured to communicate information about the respective predefined path and the predefined area to the command center, wherein the mapper vehicle senses the respective predefined path with a mapper vehicle forward-looking LiDAR sensor, and senses the respective predefined area with at least one mapper vehicle GPS sensor. Further, the nurse truck has a reservoir of premixed solution for replenishing the respective premixed solution tank of the respective autonomous delivery vehicles. 
     In certain ones of the other selected embodiments, each of the autonomous delivery vehicles includes a vehicle control unit (VCU) coupled to the autonomous delivery vehicle forward-looking LiDAR sensor and to the autonomous delivery vehicle GPS sensor, the VCU generating a vehicle command based on the autonomous delivery vehicle forward-looking LiDAR sensor sensing the predefined path and the autonomous delivery vehicle GPS sensor sensing the predefined area, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the autonomous delivery vehicle responding to at least one vehicle command. In certain others of the other selected embodiments, each of the autonomous delivery vehicles further includes a vehicle chassis with a front and a rear. Each also includes a hydraulic system, having hydraulic motors, a main hydraulic pump, a hydraulic actuator, and an auxiliary hydraulic pump. The hydraulic motors are attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle. The main hydraulic pump is attached to the vehicle chassis and fluidly coupled to provide a driving force to the hydraulic motors, causing the autonomous delivery vehicle to go forwards or backwards. The hydraulic actuator is mechanically coupled to front wheels of the autonomous delivery vehicle. The auxiliary hydraulic pump is attached to the vehicle chassis and is fluidly coupled to the hydraulic actuator to provide a steering force, causing the autonomous delivery vehicle to turn right or left. A dispersal fan is attached to the vehicle chassis rear, and is mechanically coupled to the engine. 
     Each autonomous delivery vehicle also has a sprayer system, which includes a reservoir for holding a premixed solution, a solution pump coupled to the reservoir, and spray nozzles coupled to the solution pump, wherein the solution pump is caused to deliver the premixed solution from the reservoir to the spray nozzles, wherein the dispersal fan is caused to create a forced air stream ejected from the autonomous delivery vehicle, and wherein the nozzles cause the premixed solution to be ejected into the forced air stream. Moreover, the autonomous delivery vehicle includes a motive engine coupled to the main and auxiliary hydraulic pumps, as well as to the solution pump and the dispersal fan, wherein the hydraulic pumps are caused to operate and the vehicle moves, wherein the solution pump and the dispersal fan are selectively caused to operate and the sprayer system delivers the spray. The autonomous delivery vehicle includes a forward collision avoidance system responsive to the autonomous delivery vehicle forward-looking LiDAR sensor sensing an obstruction in the predefined path, wherein sensing the obstruction causes the autonomous delivery vehicle to stop. The autonomous delivery vehicle includes a forward-viewing camera providing a video feed, wherein the video feed is wirelessly routed to the mobile control center, and wherein a forward path of the autonomous delivery vehicle is displayed in the mobile control center. In yet other embodiments, each of the autonomous delivery vehicles further includes a remote control pad, independent of the autonomous delivery vehicle chassis, the remote control pad wirelessly and selectably coupleable to the autonomous delivery vehicle, the remote control being configured to over-ride autonomous action of the autonomous delivery vehicle and to operate at least one of steering, propulsion, clutch, spray system pressure, spray, or E-Stop. 
     In embodiments of the system, signals controlling the autonomous delivery vehicle include forward-looking LiDAR sensor sensing the predefined path, the autonomous delivery vehicle GPS sensor sensing the predefined area, one of a steering sensor input, a speed sensor input, a clutch pressure sensor input, a flowmeter sensor input, a sprayer system pressure sensor, or one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command. The signals are communicated to the mobile control center by a radio link between the autonomous delivery vehicle and the mobile control center. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiment of the present invention disclosed herein are illustrated by way of example, and are not limited by the accompanying figures, in which like references indicate similar elements, and in which: 
         FIG. 1  is an illustration of a robotic agricultural spraying system, according to the teachings of the present invention; 
         FIG. 2  is a top plan overview of an autonomous delivery system (ADV) of the system in  FIG. 1 , according to the teachings of the present invention; 
         FIG. 3  is a block diagram of a control system for an ADV, according to the teachings of the present invention; 
         FIG. 4  is an illustration of a remote control interface for an ADV, according to the teachings of the present invention; 
         FIG. 5  is a block diagram of an ADV positioning system, according to the teachings of the present invention; 
         FIG. 6  is a block diagram for an ADV hydraulic system, according to the teachings of the present invention; 
         FIG. 7  is a block diagram of an ADV aqueous aerosolizer system, according to the teachings of the present invention; 
         FIG. 8  is a block diagram of the ADV teleoperation control system, according to the teachings of the present invention; 
         FIG. 9  is a block diagram of a ADV control bus structure, according to the teachings of the present invention; 
         FIG. 10  is an illustration of an external view of a mobile control center of  FIG. 1 , according to the teachings of the present invention; 
         FIG. 11  is an illustration of an internal view of the mobile control center, according to the teachings of the present invention; 
         FIG. 12  is a block diagram of a communications and positioning system for the mobile control center, according to the teachings of the present invention; 
         FIG. 13  is an illustration of a mapper vehicle of  FIG. 1 , according to the teachings of the present invention; 
         FIG. 14  is an illustration of a mapper vehicle positioning system, according to the teachings of the present invention; 
         FIG. 15  is an illustration of a nurse truck of  FIG. 1 , according to the teachings of the present invention; 
         FIG. 16  is a block diagram of a nurse truck radio repeater, according to the teachings of the present invention; 
         FIG. 17  is a block diagram of an automated mixing system of the nurse truck, according to the teachings of the present invention; 
         FIG. 18  is an illustration of the system in  FIG. 1 , deployed in an orchard, according to the teachings of the present invention; 
         FIG. 19A  is an illustration of an ADV right broadside profile, according to the teachings of the present invention; 
         FIG. 19B  is an illustration of an ADV left broadside profile, according to the teachings of the present invention; 
         FIG. 19C  is an illustration of an ADV front, head-on profile, according to the teachings of the present invention; 
         FIG. 19D  is an illustration of an ADV back, rear-on profile, according to the teachings of the present invention; 
         FIG. 19E  is an illustration of an ADV left, front perspective profile, according to the teachings of the present invention; and 
         FIG. 19F  is an illustration of an ADV right, rear perspective profile, according to the teachings of the present invention. 
     
    
    
     The embodiments of the invention and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments and examples that are described and/or illustrated in the accompanying drawings and detailed in the following description. It should be noted that the features illustrated in the drawings are not necessarily drawn to scale, and features of one embodiment may be employed with other embodiments as the skilled artisan would recognize, even if not explicitly stated. 
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Embodiments herein are described within the non-limiting context of a tree orchard, although other embodiments including, without limitation, a viticulture context or a row crop context, are possible, mutatis mutandi. An autonomous robotic sprayer can allow a single user to control multiple like robotic sprayers, as the sprayers work in an orchard, a vineyard, or a row crop with substantial efficiency. The control of one or multiple sprayers can be effected within the context of an autonomous agricultural system, and through a network of cooperative vehicles, a communications network, which coordinates the vehicles, and sprayers following software-controlled maps and paths within the maps. Certain embodiments of devices, components, and methods herein may be configured to operate within one or more parts of international standard ISO 25119—Tractors and machinery for agriculture and forestry—Safety-related parts of control systems. (Reference ISO 25119:2010(E)). Furthermore, embodiments herein may be compatible with draft standard ISO/DIS 18497—Agricultural machinery and tractors—Safety of highly automated machinery. (Reference ISO/DIS 18497:2015). The foregoing documents are incorporated by reference herein in their respective entireties. 
     In  FIG. 1 , the overall autonomous agriculture system  100  is illustrated. System  100  includes autonomous delivery vehicle (ADV)  110 , mobile control center  120 , mapper vehicle  130 , and nurse truck  140 . ADV  110  can be an autonomous part of system  100 , which, as a non-limiting example, applies chemicals, such as fertilizer, pesticides, and fungicides, to agricultural crops, such as in orchards, in vineyards, or in row crops. ADV  110  uses precision electronic equipment to control rate and pressure of applied chemicals, and ADV  110  speed, direction, and location. ADV  110  is capable of operating in an autonomous mode, or in a remote mode. In an autonomous mode, system  100  can have one or more ADVs  110  being overseen and controlled by mobile control center  120 , and providing services to at least one respective predetermined parcel of land, for example, an orchard, a vineyard, or a row crop, or a portion of an orchard, a vineyard, or a row crop. ADV  110  is configured to communicate with mobile control center  120  in both autonomous and remote modes. In an autonomous mode, ADV  110  operates without direct input by a human user; in remote mode, ADV  110  operates remote from a manually-operated control pad (not shown—see  FIG. 4 ). ADV  110  can be equipped with high-precision global navigation satellite system (GNSS) equipment, such as RTK-DGPS. ADV  110  can include forward-looking sensor, such as LiDAR, for identifying the presence of, and the adherence to, a forward path, and for identifying obstacles in the forward path. Forward-looking LiDAR is helpful, for example, for finding tree trunks and determining a central path through the tree trunks. 
     GNSS equipment on ADV  110  can include fore and aft GPS equipped to work with multi-constellation, real-time kinematic (RTK) networks, giving horizontal and vertical positioning with centimeter precision. GPS can be augmented with an inertial navigation unit. ADV  110  also can be equipped with fore and aft hi-definition video cameras to provide real-time visualization of the field of operation. All data received and sent by ADV  110  to mobile control center  120  can be by packet radio transmitted at 900 MHz, 2.4 GHz, or 5.8 GHz, depending upon weather conditions, vegetation canopy density, and other conditions. One of ordinary skill in the art would realize that other radio frequencies could be used. In a remote mode, ADV  110  may be operated to provide services by a remote-control pad having toggle switches and a joystick, instead of using mobile control center  120 . ADV  110  can sound an audible alarm prior to moving. 
     Mobile control center  120  can be a communications van with a 60-foot telescopic pneumatic mast antenna, similar to familiar news vans. Mobile control center  120  can contain several computers, multiple display screens, and command and control software. An operator can be housed in mobile control center  120  to oversee an entire operation, which may include multiple ADVs  110  spread out over a large area. Mobile control center  120  informs an ADV  110  of the predefined path that it is to take in a predefined area. Mobile control center  120  can have an on-board electric generator, and an air compressor installed on its chassis with a number of electrical outlets positioned inside and outside of the mobile control center  120 . Air conditioning and heating also may be provided. On the distal end of the mast are connections, mountings, cameras and antennas to support audio and video feeds as well as wireless data feed. 
     In addition, it has been found that mapped plots of the predetermined parcel of land can be beneficial. Previously unmapped orchard areas can be identified with a map created for use during spraying. Accordingly, in certain embodiments, mapper vehicle  130  can identify plot configurations with fore and aft GPS equipped to work with multi-constellation, real-time kinematic (RTK) networks, similar to ADV  110 . GPS data can be used to identify a pre-defined area. Moreover, mapper vehicle  130  can use forward-looking LiDAR to identify, for example, tree trunk positions, a path between the tree trunks, and any potential obstacles within the area to be mapped. Forward-looking LiDAR data may be used to identify a predefined path, although other forward-looking sensors may be used to identify the predefined path, including, without limitation, infrared, RADAR, and video imaging systems. Typically, mapper vehicle  130  drives a path through the orchard, which is substantially similar to the path to be taken by ADV  110  during operation, and continues to map until a predefined area, for example, an entire orchard or part of an orchard, is mapped. A “map” may include GPS and LiDAR data of the predefined paths and predefined areas. Mapper vehicle  130  can collect GPS and LiDAR information, and can transmit that information by radio, in the 900 MHz, 2.4 GHz, or 5.8 GHz radio bands, back to mobile control center  120  for storage and later use by ADV  110 . 
     In some embodiments, nurse truck  140  can be positioned in a designated area (apron) of sufficient size on the predetermined parcel of land, such that it is convenient to replenish ADV  110  with fuel, hydraulic fluid, or premixed solution for spraying. Typically, nurse truck  140  can carry about 2400 gallons, although other tank sizes can be used. Nurse truck  140  also can be outfitted with a radio repeater, to assist with sending control signals to, and monitoring sensed signals from, ADV  110  in the field. The radio repeater also operates on one of 900 MHz, 2.4 GHz, or 5.4 GHz, although other frequencies may be used. Typically, nurse truck  140  is positioned in a portion of the nurse area, which is a portion of land proximate to an aisle in the orchard in which spraying occurs. This portion of land will change as ADV  110  moves throughout the orchard, vineyard, or open field. Nurse truck  140  can refill ADV  110  when additional spraying solutions are needed. In selected embodiments, nurse truck  140  also can replenish hydraulic fluid or fuel. A nurse area can be a region where ADV  110  is transitioned from remote to autonomous mode, and back, or, for example, in an area in between rows of trees. ADV  110 , mobile control center  120 , mapper vehicle  130 , and nurse truck  140  can be representative of similar devices throughout the description, unless the particular description illustrates a particular embodiment of the device. 
     Turning to  FIG. 2 , a top plan view of ADV  200 , in accordance with present embodiments is shown. ADV  200  can be an embodiment such as ADV  110  in  FIG. 1 . ADV  200  will be described in general terms in  FIG. 2  and described with particularity with respect to later FIGURES. ADV  200  can be configured as an agricultural sprayer vehicle, although other configurations are possible. In particular, an embodiment of ADV  200  can be configured to be an autonomous orchard spraying vehicle. Another embodiment of ADV  200  can be configured as an autonomous vineyard spraying vehicle. Accordingly, ADV  200  is driven on four heavy-duty tires  202   a - d , which are motivated by four respective hydraulic motors  204   a - d . Tires  202   a - d  can be model IN445/50D710 (44 in. dia.×18 in. wide) by OTR of Rome, Ga., USA. Hydraulic motors  104   a - d  can be Model R092505296 by Bosch Rexroth of Charlotte, N.C., USA. Forward tires  202   a,b  are turned by hydraulic steering mechanism  206 , which when actuated guides forward tires  202   a,b  to the right and to the left, relative to the longitudinal centerline  290  of ADV  200 . Hydraulic steering mechanism  206  can be single-ended Model 2-1/2HHC10K provided by Sheffer of Blue Ash, Ohio, USA. Steering angle (turning degree left/right) can be detected by a magneto-resistive linear positioning measuring sensor  213 , such as the 100-degree steering angle sensor model SPS-A100D-HAWS from Honeywell, Morristown, N.J. Sensor  213  detects the degree of angular displacement of the wheel axle mechanism, which can be calibrated to up to plus or minus 50 degrees off of centerline  290 . Sensor  213  can be chassis-mounted, with a separate magnet being disposed in proximity on the wheel axle mechanism of ADV  200 . Of course, other steering angle position detectors may be used. 
     Power for hydraulic motors  204   a - d  can be provided by hydraulic pump  210 , which is fed from hydraulic fluid tank  212 . Power for hydraulic steering mechanism  206  can be provided by hydraulic accessory pump  211 , which also is fed from tank  212 . In turn, power for hydraulic pumps  210 ,  211  may be provided by motive engine  214 . Engine  214  can be a diesel engine, with 6.7 Liter displacement, with 173 HP, such as by Cummins, Inc. Columbus, Ind., USA. For starting power, engine  214  can be coupled to main battery  280 , for example, a Powerstride model PS31-950, having a rating of 12 V, and 950 Cold cranking amps, from Powerstride, Corona, Calif. USA. In addition, the electronic components of ADV  200  can be powered by auxiliary battery  282 , e.g., a Powerstride 44RC, rated at 12 V, 32 Amp hours. Battery isolator  284  can be coupled between the main battery and the auxiliary battery. Battery isolator  284  does not allow the engine starter to draw power from auxiliary battery. During cranking, the voltage can drop too low for some of the electrical components, causing them to shut down. Isolator  284  allows the voltage to remain at the correct voltage for the electronics. A suitable battery isolator can come from Cole Hersee®, Littelfuse Commercial Vehicle Products, Schertz Tex. USA. When the voltage drops in autonomous mode, the vehicle will not start because the vehicle control unit (VCU) needs to see all the components online and reporting back to the VCU. If this does not happen the vehicle will enter an e-stop state. 
     Engine  214  can be engaged with ADV  200  drive train (not shown). Hydraulic clutch  215  selectively engages/disengages solution pump  220  and dispersal fan  230  to engine  214 . Engine  214  provides driver power to hydraulic pumps  210 ,  211 . Hydraulic pump  210  powers hydraulic motors  204   a - d  used to turn the wheels  202   a - d  of ADV  200 . Hydraulic pump  210  can be Model AA4UG56EP3DTi/32LNSC52F04FP by Bosch Rexroth of Charlotte, N.C., USA. Hydraulic accessory pump  211  can be used to power the hydraulic steering  206  of ADV  200 , and can be a model P2100C486GDZA07-87 from Bosch Rexroth from Charlotte, N.C. USA. Motive engine  214  can be coupled to a gearbox  268  having two output shafts  270 ,  272 . First output  270  shaft can drive the hydraulic pumps  210 ,  211 . Second output shaft  272  can be coupled to hydraulic clutch  215 , which can be coupled to dispersal fan  230 . Disposed on the second output shaft  272  can be pulley  274  which can be coupled to solution pump  220  by way of a belt  276 . Thus, when the hydraulic clutch  215  is engaged, second output shaft  272  causes dispersal fan  230  to turn, and solution pump  220  to run. Hydraulic fluid tank  212  can serve as a reservoir for hydraulic pumps  210 ,  211 , and can have a capacity of about 80 gallons. 
     Aqueous aerosolizer subsystem  217  can include solution reservoir  218 , which is coupled to solution pump  220  which, in turn, supplies right spray valve  222  and left spray valve  224 . Flowmeter  226  senses the flow distributed by spray nozzles  228 . Dispersal fan  230  is coupled to delivery duct  232 . Spray nozzles  228  are positioned to deliver solution to delivery duct  232 . In present embodiments, reservoir  218  can be a 600 gallon stainless steel tank, holding pre-mixed solution, and solution pump  220  can draw input from reservoir  218 , and provide output to spray valves  222 ,  224 . Right spray valve  222  delivers the pre-mixed solution from pump  220  to the right side of delivery duct  232  of ADV  200  (relative to centerline  290 ), and left spray valve  224  delivers the pre-mixed solution from pump  220  to the left side of delivery duct  232  of ADV  200 . 
     Flowmeter  226  senses output from spray valves  222 ,  224  to ensure that the proper volume of solution is being delivered to delivery duct  232 . Dispersal fan  230  draws air in from the rear of ADV  200 , and forces air and aerosolized premixed solution out through delivery duct  232 . The predetermined volume of air being drawn in combines with the predetermined volume of solution being delivered to nozzles  228 , and provides a highly accurate aerosolized delivery of the premixed solution. Solution pump  220  can be a 2-stage centrifugal pump Model 12CI-2022C95 from Myers of Delevan Wis., USA. Solution pump  220  can be belt driven from a pulley on the shaft of dispersal fan  230 . Thus, when hydraulic clutch  215  is engaged, both solution pump  220  and dispersal fan  230 , are actuated. Spray valves  222 ,  224  can be Model 92FM33-10D20-P01, 1-inch Stainless Steel 3-Piece 2-Way ON/OFF Full Port Ball Valve w/Handle with a 0.8 sec cycle, manufactured by KZ of Ashland, Nebr., USA. The output of spray valves  222 ,  224  can be monitored by flowmeter  226 , which can be a model ARAG ORION (P/N 4622AA51616) from Hypro/Pentair, Inc., New Brighton, Minn. USA. 
     Dispersal fan  230  can be a “sucking fan” Model LFC 400/16T CR1013606 E4-36 in. glass fiber-reinforced, polypropylene-bladed, and shaft-driven fan from Breeza Industrial, Utica, Nebr. USA. Dispersal fan  230  may be actuated/deactuated by respectively engaging/disengaging hydraulic clutch  215 . Dispersal fan  230  draws air in the forward direction of travel at the rear of ADV  200 , and aerosolizes and disperses the pre-mixed solution by way of forcing a predetermined volume of air into the spray nozzles outlet delivery duct  232 . This technique ensures that trees are contacted by the premixed solution in proper proportion from the tree trunk to the tree canopy. Having individualized left and right spray valves ensures that spray is directed only to actual row(s) of trees, or to areas designated to be sprayed, for example, on one side of ADV  200 . 
     ADV  200  can have a guidance and control subsystem, which may include a GPS-based GNSS system having a fore GPS antenna  236  and an aft GPS antenna  238 . GPS signals provide ADV  200  with its horizontal and vertical position, both in absolute GIS coordinates and relative to a pre-established set of land coordinates. Communication of GPS coordinates and ADV  200  system parameters can be relayed to a control station by radio  244 , using antennas  246 ,  248 , and  250 , which may be facilitate communication at 900 MHz, 2.4 GHz, and 5.8 GHz, respectively. Moreover, fore camera  240  and aft camera  242  can provide surveillance and positioning video feeds, which feeds also may be communicated via radio  244 . Forward path verification and path obstruction detection can be accomplished by forward-looking planar laser  230 , which assists with autonomous operation. Indeed, when an object comes within a pre-determined distance from the front of the vehicle, forward-looking planar laser  230  can send an alert to the ADV control system. ADV  200  stops to avoid collision with the object. Electrical box  252  contains the electrical, control, and communication elements of ADV  200 , which elements will be described below. Safety features include a parking brake (not shown), which is engaged any time there is no forward or reverse command issued, a manual ADV shutoff (“E-Stop”) button, and visual indicator lights for a parking brake and for a full pre-mixed solution indicator, are housed on block  262 . The E-Stop button, when actuated, causes engine  214  to shut down, and sets the parking brake. Another safety feature can be forward bumper  264  which, when contacted, also causes engine  214  to shut down and sets the parking brake. One way by which an operator can transition between autonomous and remote operation (and back) is to toggle autonomous/remote switch  266  located on the ADV  200  chassis. 
     Illumination of the forward path of ADV  200  can be provided by horizontal strips of white LED lamps, forming headlight  208 . Such a headlight can be model ORBX21-54WS-SP by Super Bright LEDs, St. Louis, Mo. USA. Lights  254 ,  256 ,  258 ,  260 , which may be blinking, indicate whether ADV  200  is in autonomous mode (AMBER/BLUE), in remote mode (AMBER), in suspend mode (AMBER/BLUE/RED), or in an error mode (RED). Other lighting color schemes are possible. Flashing lights  254 ,  256 ,  258 ,  260  each can be model STRB-x4W by Super Bright LEDs, St. Louis, Mo. USA. Lighting color schemes may change to coincide with an applicable standard, e.g. Draft ISO Std. 18497. 
     Turning to  FIG. 3 , autonomous delivery vehicle control system (ACS)  300  will be described.  FIG. 3  is described within the context of  FIG. 2 . In general, system  300  can be operated in an autonomous mode or in a remote mode. When Auto/Remote switch  306  is in the remote mode, a user can control the ADV  110  by means of a Remote Control Interface  310 . When Auto/Remote switch  306  is in the autonomous mode, ADV  110  can be in the Autonomous mode, by which ADV  110  autonomously controls positioning, propulsion, spray parameters (arrangement, pressure, and flow), and engine throttle control. 
     Engine ECM (Electronic Control Module)  302  automatically cranks, starts, and monitors engine  214 , for combustion, emissions control, engine speed, high water temperature and low oil pressure, among other engine parameters. Engine speed is monitored for crank disconnect and overspeed. A bypass (not shown) permits low oil pressure and high water temperature override during the crank period and an additional adjustable period after crank disconnect. There can be an Engine Alarm Input/Output (not shown), which can be used to detect many types of faults. Certain engine components are communicatively coupled by a Controller Area Network bus (CAN bus). The engine ECM  302  monitors the CAN bus signal for problems during both cranking and running. If a problem is detected, the engine can shut down and a visual indication can be provided. Engine ECM (Electronic Control Module)  302  can be one provided with the 6.7 L, 173 HP QSB 6.7 diesel engine from Cummins, Inc., Columbus, Ind., USA. 
     ACS ECU (Electronic Control Unit)  304  provides sensing, control, and actuation for an Autonomous Delivery Vehicle (ADV), such as ADV  110 , both in autonomous mode and in remote mode. ACS ECU  304  can be disposed in electrical box  252 . Parameters sensed by ECU  304  may include, without limitation, engine RPM, temperature, voltage; forward/reverse propel; wheel speed sensors rear left/right; steer left/right; steering angle, parking brake applied/unapplied; low fuel level; low hydraulic fluid level; premixed solution tank level—full, ¾, ½, ¼, empty; PTO Clutch ON/OFF; premixed solution spray pressure and flow rate; and spray valves ON/OFF left/right. Engine ECM  302  can be coupled via CAN bus to ACS ECU  304 . ACS ECU  304  can receive operational data from the engine (e.g., engine  214 ) and can provide safety cut-off signals to engine ECM  302  from rear E-Stop button  316  or from forward bumper contact  346 . Remote control interface  310  allows ADV  110  to be operated by a remote operator, who can maintain control of ADV using a wireless link  311 . A suitable ECU  304  can be a CoreTek™ Model ECU-2415 Machine Controller from Hydraforce, Inc., Lincolnshire, Ill. USA. CAN bus  362  can communicate signals from all sensors (nodes) on the vehicle, each of which having a unique ID. Each sensor is called a Node and each has its own unique ID. All sensors feed back to the ACS ECU  304  using, for example, standard variable voltage or resistance. 
     For spray control, ACS ECU  304  controls and actuates valves performing right spray  326 , left spray  328 , and spray pressure control  330 . Pressure sensor  314  detects the pressure of the premixed solution at the spray control valves, and spray volume is detected using spray flowmeter  312 . By monitoring and adjusting spray arrangement (Left/Right), spray pressure, and spray volume along with ADV  110  speed and direction, the plants being sprayed (not shown) can receive a precise dosage of premixed solution. For steering, ACS ECU  304  detects steering parameters from steering sensor  318 , and produces commands that compel the ADV to steer left  332 , steer right  334 , or move straight ahead. Left wheel speed  322  and right wheel speed  324  are parameters sensed by ACS ECU  304  to determine direction and speed of ADV (e.g., ADV  110 ) and, in response, to regulate and maintain ADV propulsion speed in the selected direction using forward propulsion  336  or reverse propulsion  338  actuators. Wheel speed sensors  322 ,  324  can also provide an input to ADV steering, according to the relative speed of a wheel relative to others. 
     ACS VCU  308  receives information from LiDAR sensor  348  and GPS data  352  to detect a present path and a planned future path through the adjacent plants (e.g., trees or vines or row crops). LiDAR can provide more accurate path determination, in many cases, than can GPS, due to GPS inaccuracies, canopy density, and signal multipath. It is well-known in the art to employ LiDAR for object recognition. Forward-looking LiDAR sensor system  348  can be used to recognize objects in its environment, such as a row, or rows, of trees, the location of the tree trunks, and a forward path relative to the trees. Forward-looking LiDAR sensor system  348  also provides safety input such as when an object in the path comes within a predetermined distance from the front for ADV  110 . The LiDAR proximity stop caused by forward-looking LiDAR sensor system  348 , prevents accidental collision between the ADV and an object (e.g., a fallen tree limb, a human, or an errant farm animal). VCU  308  is coupled to engine ECM  302  and ACS ECU  304  with the CAN bus  362 . VCU  308  senses data input to and output from the engine ECM  302 , ACS ECU  304 , and VCU  308  and directs that data back through radio  356  over link  358  to control van  360 . VCU  308  also can route video camera video feed  350  back to mobile control center  120 . 
     Clutch pressure sensor  320  senses the current state of hydraulic clutch  215  and, in cooperation with throttle control  340 , ADV clutch engage  342  can be activated or deactivated. Among the safety features accorded to the ADV, aside from the LiDAR proximity stop, include front bumper contact stop  346  and rear E-Stop button  316 . When front bumper  264  is contacted  346 , the ACS ECU  304  causes the engine (e.g., ADV engine  214 ) to be shut off and parking brake to be engaged. Thus, front bumper contact stop can serve in a collision mitigation capacity. Similarly, when a user depresses the rear E-Stop button  316 , ADV engine  214  is shut off and parking brake  344  can be engaged. 
     All of the foregoing data from GPS subsystem  352  and LiDAR subsystem  348  can be provided to mobile control center  360  over radio link  358  via radio subsystem  356 . Data streams from video subsystem  350  also can be provided to mobile control center  360  over radio link  358  via radio subsystem  356 . Additionally, sensed data from flowmeter  312 , pressure sensor  314 , steering sensor  318 , clutch pressure sensor  320 , and wheel speed (left/right)  322 ,  324  are transmitted to mobile control center  360 . Front bumper  264  contact STOP activation state also is sent to mobile control center  360 . 
     Mobile control center  360  also receives information from the CAN bus over link  358  regarding ACS ECU  304  and VCU  308 . Thus, mobile control center  360  can monitor the information, command, and control data being created by ACS  300 . Additionally, mobile control center  360  can issue command and control directives over link  358  to VCU  308  which, in turn, can cause ACS ECU to act to control the ADV. Among those directives transmitted to ADV systems including spray control  326 ,  328 , pressure control  330 , steering  332 ,  334 , propulsion  336 ,  338 , throttle control  340 , clutch position (engage/disengage)  342 , and parking brake position (on/off)  344 . 
     Turning to  FIG. 4 , an illustration of remote control interface  400  is shown. Interface  400  can be similar to remote control interface  310  in  FIG. 3 . Remote control interface  400  can have a multi-positional joystick  402  and a toggle switch panel  404 . Multi-positional joystick  402  can have selections that enable a remote operator (not shown) to operate ADV  110 , with propel forward  406  or propel reverse  410  command signals, as well as steer right  408  or steer left  412  command signals. The displacement of the joystick from mid-point serves to increase the degree of propulsion speed or steering. A conspicuous MACHINE STOP control switch  414  can be provided, for example, in the middle of interface  400 , to initiate machine shutdown and parking brake set. Switch  414  can be similar in function and operation to E-Stop button  316  in  FIG. 3 . 
     Toggle switch panel  404  can include SPRAY RIGHT ON/OFF switch  416 , and SPRAY LEFT ON/OFF switch  418 , which causes the respective spray valve  222 ,  224  to open or to close. Spray control also can include spray pressure increase or decrease using PSI INCREASE/DECREASE switch  420 . CLUTCH ENGAGE/DISENGAGE switch  422  can cause ADV  110  clutch (not shown) to engage and disengage, respectively. THROTTLE UP/DOWN switch  424  can actuate the throttle of engine  214  to increase or decrease, thereby respectively increasing or decreasing the speed of engine  214 . AUXILIARY # 1 /AUXILIARY # 2  switch  426 . Other types and arrangements of switches also may be used. Visual confirmation of joystick- and switch-related can be provided on display  428 . Radio control of ADV  110  from interface  400  can be accomplished by use of a radio transceiver model  4370  from LOR Manufacturing, Weidman, Mo. USA. 
       FIG. 5  illustrates ADV Positioning System (APS)  500 .  FIG. 5  can be taken in the context of  FIGS. 1, 2, and 3 . APS  500  can receive positioning signals from onboard subsystems for LiDAR  348  and GPS  352 ; can process the signals for ADV  110  positioning within a predefined area; can pass through signals from video  350  to mobile control center  120 ; and can autonomously navigate a predefined path within the predefined area using guidance provided by the positioning signals. In particular, GPS  352  subsystem can include fore GPS antenna  502  and aft GPS antenna  503 , coupled to GPS receiver  504 . GPS subsystem  352  can receive incoming GPS positioning signals from multiple ones of a global constellation of GPS satellites (not shown), and can provide horizontal and vertical positioning data to VCU  518 . VCU  518  confirms that ADV  110  is within a preselected area specified by the GPS. In certain embodiments, GPS subsystem  352  can provide horizontal and vertical positioning data within 1 centimeter of accuracy. A predefined area can be, for example, at least a portion of an orchard, a vineyard, or a row crop, but also can be any other jobsite where ADV  110  provides a suitable spraying solution. 
     VCU  518  processes the incoming GPS data and compares it to predefined GPS data to find the correct path for ADV  110 . The connections between antennas  502 ,  503  and GPS receiver  504  may be coaxial-type connections. The connection from GPS receiver  504  to VCU  518  may be serial data connections, such as an RS-232-type, or an IEEE 802.3-type, serial data connection. In an orchard application, GPS subsystem  352  provides VCU  518  with positioning data, which can be compared to predefined area information previously recorded by mapper vehicle  130 . Prerecorded GPS data can be compared to sensed GPS data, and corrections can be made to keep ADV  110  true to the intended path. 
     Additionally, ADV  110  forward path identification and verification also can be provided using the LiDAR (light radar) subsystem  348 , which can include planar laser  510  (sensor) coupled to Obstacle Detection/Obstacle Avoidance (OD/OA) processor  512  using an Ethernet-type connection. Planar laser  510  can communicate with OD/OA processor  512  in IEEE 802.3 format. In an orchard application example, OD/OA processor  512  causes planar laser  510  to illuminate the forward path of ADV  110 , identifying incident targets (e.g., trunks of trees) in the orchard, and processes reflected return signal from planar laser  510  to provide both target and ADV  110  positional information, which information is transmitted through IP-67 rated, high reliability (HI-REL) packet switch  516  to VCU  518 . 
     Although positional information can be provided by GPS subsystem  352 , the positional information from LiDAR subsystem  348  can mitigate errors in GPS navigation due to satellite obscuration (e.g., tree canopy and other interference). VCU  518  interprets the data provided by OD/OA processor  512  to determine the position of orchard trees, to find a center path between the trees, and to verify that the current path comports with a predefined path data provided to VCU  518  by mapper vehicle  130 . The predefined path information can include the positions of targets, such as row(s) of trees, within the predefined area, and a path to follow between clusters (rows) of targets (trees) within the predefined area. Moreover, VCU  518  can use data from OD/OA processor  512  to detect if there is an obstacle in the path of ADV  110  and, if so, to shut down ADV engine  214 . Thus, LiDAR subsystem  348  also can act as a collision avoidance subsystem. 
     Video subsystem  350  can include fore video camera  506  and aft video camera  507 , which provide packetized video signals to camera switch  508 . The packetized video signals can be representative of the respective visual areas proximate to ADV  110 . Also, camera switch  508  can be a Power Over Ethernet-enabled (POE) switch, providing operating power to cameras  506 ,  507 . Video subsystem  350  also can use a DC/DC converter (12V/48V) such as a model Supernight, LC-123 from E BEST TRADE LLC, Portland, Oreg. USA. Video packets transmitted from cameras  506 ,  507  can be routed through router  520 , then through HI-REL packet switch  516  to VCU  518 . VCU  518  in turn routes the video stream to radio transceiver  524 , and then to mobile control center  120 . Video packets can be in Ethernet format. 
     GPS antennas  502 ,  503  can be Zephyr 2 (ruggedized) antennas and GPS transceiver  504  can be Model BX982, all from Trimble Navigation Limited, Sunnyvale, Calif. USA. Cameras  506 ,  507  can be model M-3114 from Axis Communications AB, Lund, SE. Camera switch (POE)  508  can be model VHDC-24V-50W from Rajant Corp., Malvern, Pa. USA. HI-REL switch  516  can be an Octopus switch, Model 5TX-EEC, from Hirschmann (a Belden Company), Neckartenzlingen, Baden-Wurttemberg, Del. NAT Router  520  can be a model EKI-6528TPI NAT router from Advantech America, Milpitas, Calif., USA. Planar laser  510  can be a model VLP-16 3D LiDAR sensor from Velodyne LiDAR™, Morgan Hill, Calif. USA. Alternatively, a model LMS-151 from Sick AG, Waldkirch im Breisgau, Del. may be used. 
     Coupled to OD/OA processor  512  can be event recorder  514 . Event recorder  514  records data from OD/OA processor  512 , as well as CAN bus feed from ACS VCU  304 . Event recorder  514  can have Ethernet connections (e.g., RJ-45, M-4, and M-12), serial connections (e.g., RS-232, and USB), CAN connections (e.g., J1939), and SVGA connections. Like a cockpit data recorder in a commercial aircraft, event recorder  514  can collect and save predetermined event data over a predetermined temporal window, and may record over the saved data during subsequent temporal windows. Event recorder  514  data may not be manually manipulated, and can provide helpful information regarding ADV  110  systems states in a case of mishap or misfortune. Radio subsystem  356  can include transceiver packet switch (POE)  522  coupled, and providing power, to radio transceiver  524 . Radio transceiver  524  can be capable of transmitting and receiving signals in multiple frequency bands. Accordingly, radio transceiver  524  may include multiple antennas, such as a 900 MHz antenna  526 , a 2.4 GHz antenna  527 , and a 5.8 GHz antenna  528 . Multi-frequency transceiving permits high-reliability, robust, and redundant communication between an ADV ACS  300  and APS  500 , and mobile control center  360 . POE transceiver packet switch  522  can be a model VHDC-24V-50W from Rajant Corp., Malvern, Pa. USA. Radio transceiver  524  can be a model LX-4 from Rajant Corp., Malvern, Pa. USA. 900 MHz antenna  526  can be a Model 08-ANT-0922 from MP Antennas, LTD, Elyria, Ohio USA. 2.4 GHz antenna  527  can be a Model TRAB24003P and 5.8 GHz antenna  528  can be a Model TRAB58003P, both from Laird USA, Earth City, Mo. USA. 
       FIG. 6  is a block drawing illustrating ADV Hydraulic System (AHS)  600 .  FIG. 6  will be described with the assistance of  FIG. 2 . AHS  600  is a subsystem that supports ADV  110  locomotion, steering, and spray systems. Each of the four wheels  202   a - d  of ADV  110  can be driven by hydraulic motor  204   a - d , which are pressurized by hydraulic pump  210 . Hydraulic pump  210  also provides pressure to parking brakes  608 ,  609 . While the hydraulic pump is running, parking brakes  608 ,  609  are pressurized to be OFF. However, when hydraulic pump  210  stops running, such as by an E-Stop, parking brakes  608 ,  609  can be depressurized and set ON using a mechanical, device such as springs (not shown). Other parking brake arrangements are possible. In general, while the diesel engine is running, the brakes can be set to ON or OFF by a switch. If there is no FORWARD or REVERSE command, the switch will depressurize the brake system, setting the brakes ON. However, if a FORWARD or REVERSE command is received, the switch will be set to pressurize the brake system, setting the brakes OFF, and allowing wheels  202   a - d  to turn. Hydraulic accessory pump  211  can pressurize fore distribution block  602  and aft distribution block  610 . Hydraulic accessory pump  211  can supply hydraulic pressure to operate steering cylinder  206 , agitator motor  604  through fore distribution block  602 , and fan clutch  612  through aft distribution block  610 . Steering cylinder can be a single-ended or double-ended hydraulic steering cylinder, although in the described embodiment in  FIG. 2 , a single-ended steering cylinder is used. Agitator motor  604  provides a uniform mixture of chemicals or additive to the water tank in the system, so that the spray achieves a consistent concentration. Agitator motor  604  can be a model no. 2100 (P/N: P2100C486GDZA07-87) from Permco, Inc., Streetsboro, Ohio USA. Filter  606  extracts dirt, debris, and metal shavings from the hydraulic fluid. Filter  606  can be a filter series RT (P/N: RT2K10P24NNYZ) from Schroeder Industries, Leetsdale, Pa. USA. Filter  606  can use a type KZ5 filter insert, also from Schroeder Industries. Fan clutch  612  controls the operation of dispersal fan  230  and solution pump  220 . When fan clutch  612  is engaged, dispersal fan  230  and solution pump  220 , can be made to operate, while when fan clutch  612  is disengaged, dispersal fan  230  and solution pump  220  are not operating. 
       FIG. 7  is a block illustration of an embodiment of an aqueous aerosolizer subsystem, such as subsystem  217  in  FIG. 2 .  FIG. 7  can be described within the context of  FIG. 2 . Tank fill valve  702  is used to admit aqueous solution  712  to holding tank  218 . Tank  218  can be a 600 gallon stainless steel tank. Aqueous solution  712  may be a pre-mixed aqueous solution, although other types of solution may be used. Aqueous solution  712  can be a chemical solution such as a fertilizer, a pesticide, a fungicide, or a functional combination thereof. In use, premixed solution  712  can be drawn through water filter  706 , which is coupled to the inlet port of solution pump  220 . Filter  706  can have a 20-mesh screen (about 0.0331 inches). Pressure regulating valve  704  can be used to regulate the pressure generated at the outlet port of pump  220 . Pressure regulating valve  704  can be a model LOEWS-DF1 (1.5 inches) from KZ Valve, Greenwood, Nebr. USA. When valve  704  is fully open, pump  220  can recirculate premixed solution  712  to tank  218 , through filter  706  and to the pump inlet, providing negligible output pressure. When valve  704  is fully closed, all output of pump  220  is provided to its outlet port, providing full pressure. Typically, pressure regulating valve  704  can be manipulated so that a measured amount of premixed solution  712  can be provided at a preselected pressure to flowmeter  226 . Flowmeter  226  can be used to measure the flow rate or quantity of premixed solution  712  being provided from the outlet of pump  220  to open/shut-type left spray valve  222  and right spray valve  224 . When left spray valve  222  is opened, premixed solution  712  can be pumped through valve  222  to strainer  708 , and then to left-side nozzles  228 . Strainer  708  filters any entrained dirt and debris from the pumped aqueous premixed solution  712 , so that left-side nozzles  228  are not impaired thereby. Strainers  708  can be a 30 mesh screen (0.0234 inch). Right spray valve  224  operation can be functionally the same as left spray valve  222  relative to strainer  708  and nozzles  228 . Operation of valve  222  or  224 , or both deliver a predetermined solution volume of premixed solution  712  to nozzles  228 . Forcing the predetermined solution volume of premixed solution  712  through nozzles  228  causing premixed solution  712  to become aerosolized. Dispersal fan  230  can be used to draw a predetermined air volume into the delivery duct  232 . By mixing the predetermined solution volume with the predetermined air volume, the resulting aerosolized mixed solution can be dispersed at a rate, and on a side, suitable, for example, for treating trees  710  or  711 , or both. Two-sided spraying is typically used when ADV  110  is operating between two rows of trees  710 ,  711 . One-sided spraying can be used to apply aerosolized mixed solution to a single row of trees  710  or  711  disposed on one side or the other of ADV  110 . 
     Turning to  FIG. 8 , an embodiment of overall teleoperation control system  800  for ADV  110  is described. Standards for busses used in system  800  include standard IEEE 802.3 (for convenience, “Ethernet”), a collection of standards describing local area network composition and operation, and standard SAE J1939 (CAN), Recommended Practice for a Serial Control and Communications Vehicle Network, which is the vehicle bus recommended practice used for communication and diagnostics among vehicle components. Both of these standards are incorporated into this document in their entireties. System  800 , then, employs two types of busses, each of which being coupled to VCU  802 , Ethernet connections  805  and CAN bus connections  810 ,  825 . Cameras  804  are coupled to VCU  802  and thus to radio  808 , and provide remote viewing of the areas of ADV  110  operation (fore and aft) by the operations supervisor (e.g., van operator). GNSS system  806  identifies the horizontal and vertical location and position of ADV  110  within a predefined area of an orchard, and provides tracking capability of ADV  110  as it drives other predefined paths, as selected and identified by VCU  802 . Positioning and path information, as well as ADV  110  operating parameters, are relayed to mobile control center  120  by radio  808 . Radio  808  receives command and control information from mobile control center  120 , which may cause VCU  802  to begin, modify, or terminate operation in a selected subsystem. Cameras  804 , GPS  806 , and radio  808  can be coupled to VCU  802  using the Ethernet switched packet bus  805 . 
     VCU  802  also receives inputs and transmits inputs to the mechanical portion of ADV  110  by communicating with the hardware automation interface, CAN bus controller  810 . Controller  810  can be coupled to the ECU  812 , which can be functionally like ACS ECU  304 . ECU  812  issues commands to machinery components, monitors the state of ADV  110  physical systems, and receives response and state data from ADV  110  physical systems. In particular, ECU  812  can increase, decrease, or shut off throttle  814 , causing engine  816  (which can be like engine  214 ) to speed up, slow down, or stop, respectively. Transmission  818  and drive train  820  can send back state information, during operations, and in response to clutch operation. Tires  824  can be caused to turn forward or reverse by operation of drive train  820 , in response to throttle  814 . In addition, ECU  812  can cause parking brake  822  to be set, or released, in response to commands from ECU  812  or VCU  802 . 
       FIG. 9  depicts control bus structure  900  including the several busses, which may be used to communicate within an ADV  110 , including with particularity, VCU  802  and ACS ECU  812 . Auto/Remote button  902  can be wired as a standard I/O arrangement into VCU Estop CPLDs  910 , along with Vehicle On/Off  904 , and E-Stop button  906 . VCU Estop CPLDs  910  provide action via an I/O bus to VCU Auto Power Bus  912 . When ADV  110  is activated, VCU Auto Power Bus  912  actuates external auto beacon  914  via I/O bus, indicating that ADV  110  is in an operational mode. Fore and aft GPS antennas  916 ,  918 , respectively, can be coupled to via a serial link GPS receiver  920  which, in turn, is coupled to the VCU control unit  925 , for example, using an RS-232 serial link. Inertial measurement unit (IMU)  926  may be coupled to VCU control unit  925  using an RS-232 serial link, as well. IMU  926  can be a model 3DM-GX4-25 MicroStrain® Inertial Measurement Unit, from Lord Sensing Systems, in Williston, Vt. IMU  926  includes a tri-axial accelerometer, a gyroscope, a magnetometer, temperature sensors, and a pressure altimeter. IMU  926  determines pitch, roll, yaw, and heading of ADV  110 , acting as a static and dynamic attitude, heading, and reference system. As described above, Ethernet-capable fore and aft cameras  928 ,  930  can be powered and switched by camera/POE switch  932 . Vehicle POE/switch  934  can bidirectionally communicate Ethernet signals from camera/POE switch  932 , as well as Ethernet signals over POE bus  936  from radio  938 . Vehicle POE/switch  934  bidirectionally communicates with network hub  940  using the IEEE 802.3 protocol. Information from the network hub  940  can be transmitted to the “Black Box” event recorder  942 . Event recorder  942  also receives data from VCU control unit  925 . Within VCU control unit  925  are several controllers, which provide operational controls to the mechanical system of ADV  110  by way of CAN bus  944 . 
     Based upon the input data from GPS receiver  920 , IMU  926 , fore and aft cameras  928 ,  930 , and radio  938 , VCU control unit  925  can provide command and control signals to keep ADV  110  on a predetermined path. Such command and control signals can include, without limitation, steering controller  946 , brake controller  948 , discrete controller  950 , transmission controller  952 , throttle controller  954 , and ignition interface  956 . Signals from VCU control unit  925  can be conveyed through J1939 interface  958 , over CAN bus  960  to ECU interface  961 , which also can be a J1939 interface. The command and control signals from VCU controller  925  can provide command and control for steering  966 , lights  968 , ignition  970 , parking brake  972 , engine speed  974 , and transmission state  976 . 
       FIG. 10  depicts an embodiment of mobile control center  1000 . Mobile control center  1000  can be functionally like control center  120 . Mobile control center  1000  can be a preconfigured vehicle with an extendable, pneumatic mast  1002 , which can be extended up to about 60 feet. This height can give a free line-of-sight range of about 3 miles, or about 0.75 miles of range in dense tree canopy. Communication range within an orchard may vary due to the predefined area size, tree density, vegetation canopy density, weather, multipath, mast height, transmission frequency, and other factors. Other configurations and frequencies are possible. This configuration of mobile control center  1000  is suitable for bidirectionally communicating with one or more ADVs  110 , which may be dispersed over a predefined area of an orchard. Mobile control center  1000  can house the operator that oversees entire operation. In addition, mobile control center  1000  can contain command and control software, can control one or more ADVs while in Autonomous Mode, and can monitor the status of the one or more ADVs. Mobile control center  1000  can have a separate 7 kW generator  1004  aboard to provide power for the electronics, computer, and radio equipment in mobile control center  1000 . Other generator power capabilities can be provided. Heating and air conditioning equipment  1006  may be provided in mobile control center  1000  for operator comfort. Interior and exterior AC connections also may be provided. 
     Mobile control center  1000  can transmit or receive on a selectable frequency, such as on a 900 MHz band, or a 2.4 GHz band or a 5.8 GHz band, according to conditions in the field. Antennas  1008  for the mobile control center radio can be disposed on mast  1002 . Of course, other frequencies may be used. In addition to ADV  110 , mobile control center  1000  can bidirectionally communicate with mapper vehicle  130 , typically to collect mapping information (e.g., GPS and LiDAR mapping signals) about a predefined area. After being received from the mapper vehicle  130 , mobile control center  1000  can store all mapping data for at least a predefined area (e.g., an orchard or a portion of an orchard). Control center  1000  can send mapping data to ADV  110  on-the-fly, for at least a portion of a predefined area, or for at least one predefined area, depending upon the amount of memory made available in the VCU of ADV  110 . 
     In some embodiments, mobile control center  1000  can be paired with one or more repeater trucks (not shown), which may be disposed along the periphery of a predefined area, for example, in which one or more ADVs are treating their respective predefined areas. A repeater truck may be a van such as mobile control center  1000 , or some other vehicle, which will be disposed in the field. Nurse truck  140  can have a radio repeater, which can be useful to relay and receive signals from ADV  110  or mapper vehicle  130  to mobile control center  120 , in the event of low level or compromised signals due to distance, signal strength, multipath, canopy density, tree density, weather, or other causes of impaired signals. Mobile control center  1000  may have a GPS receiver and GPS antenna  1010  may disposed on a tripod outside of the van, for example, up to 25 feet away, and coupled to the GPS receiver by a coaxial cable. 
       FIG. 11  illustrates an embodiment of an interior view of mobile control center  1000 , exclusive of the driving cab. Mobile control center  1000  houses at least touch screen computer monitor (e.g., 32 inches)  1102 , high definition monitors (e.g., 24 inches)  1104   a - c , and a rack-mounted frame carrying base radio  1106 , Ethernet hub  1108 , mobile control center computer  1110 , and mobile control center back up battery  1112 . Also seen is an inside view  1114  of heating and air-conditioning device  1006 . Touch screen monitor  1102  allows a mobile control center operator/supervisor to make on-the-fly changes to the operation of ADV  110 , including, without limitation, STOP, speed (e.g., throttle up/down), clutch (engaged/disengaged), heading, steering, spraying side, flow, and flow rate, and ADV light configurations. All system alerts and warnings are received and displayed on monitor  1102 . Moreover, high-definition monitor  1104   a  can be used by the mobile control center operator/supervisor to display live video feeds from the fore/aft cameras  240 ,  242  of ADV  110 , in a selected display configuration, allowing mobile control center operator/supervisor to have complete situational awareness of the state of the system  100  including ADV  110 . 
     Base radio  1106  can be used to communicate with all vehicles of system  100 . In particular, base radio  1106  receives radio feed from ADV  110 , which includes video, Ethernet, CANnet, and LiDAR information transmitted by ADV  200 . Base radio receives GPS and LiDAR information about a pre-defined area, which is stored by computer  1110 , and which creates the predefined path to be taken by ADV  110 . Base radio  1106  can also bidirectionally communicate verbal signals among the operators of mapper vehicle  130  and nurse truck  140 , as well as other handheld radios in the field. 
     Computer  1110  can be a tower-style Hewlett-Packard Z230 workstation, having an Intel® i7-4790 CPU @ 3.60 GHz, 8 GB RAM, and a 1 TB hard drive, using a 64-bit operating system. Of course, other, comparable computers may be used, and specifications may change as technology progresses. 
       FIG. 12  illustrates an embodiment of communication and positioning system  1200  of mobile control center  1000 . System is powered by generator  1202 , which can be similar to 7 kW generator  1004 . Generator  1202  can supply backup battery  1204 , which is depicted as battery  1112  in  FIG. 11 . Generator  1202  and battery  1204  can serve as the power platform for computer  1206 , which receives and processes information received from Ethernet hub  1208 . In turn, Ethernet hub  1208  bidirectionally communicates with each of computer  1206 , Power over Ethernet  1218  (which communicates radio signals), GPS receiver  1232 , and E-Stop  1234 . Power over Ethernet  1218  provides power to radio transceiver  1216 , which communicates signals over at least one of 900 MHz antenna  1210 , 2.4 GHz antenna  1212 , or 5.8 GHz antenna  1214 . These signals may be communicated among ADV  110 , mapper vehicle  130 , nurse truck  140 , or handheld radios in the field. Similarly, GPS antenna  1230  receives real-time GIS signals relative to the position of mobile control center  1000 . These GPS signals are communicated by GPS receiver, in Ethernet format, to Ethernet hub  1218 . Computer  1206  can communicate with touch-screen input and display monitor  1220 , which is similar to display  1102  to send commands and receive data from the entire system. Monitor  1222 , which can be like monitor  1104   a , is mounted proximate to monitor  1220 . Monitor  1222  can be configured to display real-time video signals from ADV  110 , so that the control operator can be aware of the location of ADV  110  while it is operating. Monitor  1224  and monitor  1226  can be used to display information relating to ADV  110 , mapper vehicle  130  or nurse truck  140 , as well as mobile control center  120 . 
       FIG. 13  is an illustration of mapper vehicle  1300 , which is physically and functionally similar to mapper vehicle  130 . Mapper vehicle  1300  is used to identify, select, and create maps of predefined paths in predefined regions, for example, of an orchard. Mapper vehicle  1300  can be an all-terrain vehicle (ATV) to easily navigate the often dense and torturous orchard inter-tree pathways. Mapper vehicle  1300  can include fore GPS receiver  1302  and aft GPS receiver  1303 , which can be RTK-DGPS receivers, to obtain the most accurate positional information available. However, because orchard tree canopies can be extremely dense, creating multipath and attenuating incoming satellite signals, mapper vehicle  1300  can employ LiDAR sensor  1306 . LiDAR sensor  1306  provides an accurate tree trunk placement of trees in a selected portion of orchard and an accurate path descriptions relative to the actual positions of tree trunks. This information can assist ADV  110  in identifying, selecting, verifying, and following a predefined path. GPS and LiDAR information sensed by mapper vehicle  1300  can be transmitted to mobile control center  1000  by mapper vehicle  1300  radio, which is coupled to 900 MHz antenna, 2.4 GHz antenna, and 5.8 GHz antenna, respectively. Mapper vehicle  1300  also can be a support vehicle for field operations, which carries diesel fuel, hydraulic oil, motor oil (tanks at  1320 ) and basic tools and parts (not shown) to facilitate repairs in the field. Mapper vehicle  1300  includes a tablet-type computer with software to watch spraying operation in progress. Planar laser  1306  can be a model VLP-16 3D LiDAR sensor from Velodyne LiDAR, Morgan Hill, Calif. USA. Alternatively, a model LMS-151 from Sick AG, Waldkirch im Breisgau, DE may be used. A non-limiting example of mapper vehicle  1300  may be a Polaris® Ranger Crew Diesel 4×4 all-terrain vehicle, using a Kohler 1028 cc, 3 cylinder, 24 HP engine. Also, a laptop may be used with mapper vehicle  1300  to aid in real-time mapping and to reduce the amount of post-processing performed to create a map. The laptop may have specifications similar to mobile control center computer  1110 . 
       FIG. 14  is an illustration of an embodiment of mapper vehicle positioning system  1400 , which can be used in mapper vehicle  1300 . Mapper vehicle positioning system  1400  communicates with mobile control center  120 , to provide orchard mapping and path data. System  1400  can be configured for use with a mapper vehicle such as mapper vehicle  130 , or mapper vehicle  1300 . System  1400  can include fore GPS antenna  1402 , and aft GPS antenna  1403  for detecting GPS signals by GPS receiver  1404 . GPS signals may be received by VCU  1406  in a manner similar to VCU  518 , if available in system  1400 . VCU  1406  may generate GPS-related commands that might be used in the movement of ADV  110 . Planar laser  1410  generates LiDAR signal  1411 , which provides a scanned image, representative of a predefined path in a predefined area of a field. LiDAR signal  1411  can be processed in OA/OA processor, if available, which can be like OD/OA processor  512 . HI-REL Ethernet switch  1408 , if necessary, can bidirectionally communicate signals with GPS receiver  1404 , and if available, VCU  1406  and OD/OA processor  1412 . HI-REL switch  1408  can bidirectionally communicate received signals with transceiver Power over Ethernet switch  1414 , and then with radio transceiver  1416 , which communicates the signals over one of several frequencies, as represented by 900 MHz antenna  1418 , 2.4 GHz antenna  1419 , or 5.8 GHz antenna  1420 . Using radio transceiver  1416 , mapper vehicle radio can serve as secondary repeater station for greater radio coverage in the field. As above, POE transceiver packet switch  522  can be a model VHDC-24V-50W from Rajant Corp., Malvern, Pa. USA. Radio transceiver  524  can be a model LX-4 from Rajant Corp., Malvern, Pa. USA. 900 MHz antenna  526  can be a Model 08-ANT-0922 from MP Antennas, LTD, Elyria, Ohio USA. 2.4 GHz antenna  527  can be a Model TRAB24003P and 5.8 GHz antenna  528  can be a Model TRAB58003P, both from Laird USA, Earth City, Mo. USA. GPS antennas  502 ,  503  can be Zephyr 2 (ruggedized) antennas and GPS transceiver  504  can be Model BX982, all from Trimble Navigation Limited, Sunnyvale, Calif. USA 
       FIG. 15  illustrates an embodiment of nurse truck  1500 , which also can be configured with a radio repeater thereon, to assist mobile control center  120  with field communications. Nurse truck  1500  can be physically and functionally similar to nurse truck  140 . Nurse truck  1500  can be used to mix preselected material at the pump to provide a pre-mixed solution. Nurse truck  1500  can be used to fill/refill ADV  110  during operations in the field. Accordingly, nurse truck  1500  can have three tanks: one tank for fuel  1502 , one tank for pre-mixed solution  1504 , and one tank for hydraulic fluid  1506 . The total capacity for this embodiment of nurse truck  1500  can be about 2400 gallons. Of course, other tankers with different capacities and tank arrangements can be used. Nurse truck  1500  typically is deployed in a predetermined nurse truck region, an “apron,” which may be close to the areas being sprayed by ADV  110 . When ADV  110  senses that it is low on fuel, hydraulic solution, or pre-mixed solution, ADV  110  sends a signal to control vehicle  120 , which sends a signal (text, voice, or digital data) to nurse truck  1500  to go to the aid of the ADV  110 . Alternately, ADV  110  can move itself in proximity to the apron. Nurse truck  1500  also contains tools and spare parts (not shown) to facilitate field repairs. Nurse truck  1500  also can have a radio repeater communications network ( FIG. 16 ) to further facilitate radio coverage within a field of operations. 
       FIG. 16  illustrates an embodiment of radio repeater communications network  1600 , as may be used by nurse truck  140  to enhance radio coverage between mobile control center  120 , and other vehicles in system  100 , as well as personnel with handheld radios, within a field of operations. Radio repeater communications network  1600  can have a GPS antenna  1602  and GPS receiver  1604 , which provide mobile control center  120  with its location in the field. Receiver  1604  transmits the GPS signal to Ethernet hub  1606 , which delivers the positional information to transceiver POE  1608 . Transceiver  1610  receives the positional information signal from POE  1608 , typically in Ethernet format. The positional information signal is then transmitted to mobile control center  120  using one of plural frequency bands over corresponding radio antenna of 900 MHz  1612 , 2.4 GHz  1614 , or 5.8 GHz  1618 . Of course, if one or more other frequencies were used within system  100 , radio repeater communications network  1600  would employ a transceiver and corresponding antenna capable of the other frequencies. As above, POE transceiver packet switch  522  can be a model VHDC-24V-50W from Rajant Corp., Malvern, Pa. USA. Radio transceiver  524  can be a model LX-4 from Rajant Corp., Malvern, Pa. USA. 900 MHz antenna  526  can be a Model 08-ANT-0922 from MP Antennas, LTD, Elyria, Ohio USA. 2.4 GHz antenna  527  can be a Model TRAB24003P and 5.8 GHz antenna  528  can be a Model TRAB58003P, both from Laird USA, Earth City, Mo. USA. GPS antennas  502  can be Zephyr 2 (ruggedized) antenna and GPS transceiver  504  can be Model BX982, all from Trimble Navigation Limited, Sunnyvale, Calif. USA. 
       FIG. 17  illustrates an embodiment of an automated mixing system  1700 , which may be used with nurse truck  140 . System  1700  may be disposed upon and coupled to nurse truck  140 , or may be separate. In addition, while system  1700  depicts a mixing system with three chemical inputs, mixing system  1700  could have more, or fewer, chemical inputs. Automated mixing system  1700  can include three chemical input tanks  1702   a - c , the flow from which is controlled by variable-output valve  1704   a - c . The output by each valve  1704   a - c  can be independently controlled by control inputs  1705   a - c , respectively. Valves  1704   a - c  are respectively discharged into measuring devices  1706   a - c , where the amount of fluid discharged can be measured. Measuring device  1706   a - c  could be a scale, or could be a continuous flowmeter. Measuring device  1706   a - c  provide a feedback signal to computer control  1708 , wherein the amount of flow through valves  1704   a - c  can be determined and adjusted. Nurse truck tank  1710 , which may be like tank  1504  in  FIG. 15 , can receive the independently measured solutions to provide a pre-mixed solution that will be administered by ADV  110 . 
       FIG. 18  illustrates an orchard milieu in which system  1800  is operating. System  1800  can be functionally and physically similar to system  100 . That is, ADV  110  can be like ADV  1810   a ,  1810   b ; mobile control center  120  can be like mobile control center  1820 ; mapper vehicle  130  can be like mapper vehicle  1830 ; and nurse truck  140  can be like nurse truck  1840 . ADV  1810   a  can be programmed to follow a predefined path  1808  in a predefined area  1806 , for example, of tree orchard  1802 . Predefined path  1808  may be a serpentine forward path that meanders through predefined area  1806 . As ADV  1810   a  follows a straightaway of the serpentine forward path, it reaches a switchback, during which ADV  1810   a  performs a turn. Typically, during a turn, spraying may be temporarily discontinued and resumed when the turn is completed, or nearly completed. Similarly, ADV  1810   b  can follow a corresponding predefined forward path in a corresponding predefined area. Both ADV  1810   a  and ADV  1810   b  can be monitored and controlled by mobile control center  1820 . While ADV  1810   a,b  are spraying a premixed solution onto orchard  1802 , nurse truck  1840  waits on apron  1812 , for a need as indicated by ADV  1810   a,b  and as determined in mobile control center  1820 . Mobile control center  1820  can monitor ADV  1810   a,b  and can send a command to nurse truck  1840  to meet ADV  1810   a , for example, at a designated portion of apron  1812 , so that addition of pre-mixed solution, fuel, or hydraulic fluid can be replenished as needed in ADV  1810   a . It can be less troublesome for ADV  1810  to meet nurse truck  1840  on apron  1812  than to have nurse truck  1840  move between the trees of orchard  1802 . 
     Mapper vehicle  1830  can be disposed in an unmapped area  1814  of orchard  1802 . Mapper vehicle  1830  can move up and down the rows of area  1814 , using GPS and LiDAR, to determine and identify a forthcoming predefined path  1816  in a new predefined area  1814 . As mapper vehicle moves about area  1814 , it transmits the corresponding GPS and LiDAR information about area  1814  to mobile control center  1820 , until mapping of area  1814 , or a portion thereof, is completed. 
       FIG. 19A-F  illustrate the physical configuration of a typical ADV  110 . In  FIG. 19A , right broadside profile  1900  (front, right) of ADV  110  is shown; in  FIG. 19B , the left broadside profile  1910  (front, left) of ADV  110  is shown. In  FIG. 19C , ADV  110  is illustrated as front head-on profile  1920 ; in  FIG. 19D , ADV  110  is illustrated by the direct-on rear profile  1930 . In  FIG. 19E , ADV  110  is illustrated by the left front perspective profile  1940 ; in  FIG. 19F  ADV  110  is illustrated by the right rear perspective profile  1950 . In general, ADV  110  can be about 102″ wide, about 276″ long, and about 67″ tall. Typically, a portion of the body is approximately cylindrical. In profiles  1900 ,  1910 ,  1930 ,  1940 , and  1950 , the front portion  1960  is shown to be distinctively up-sloped from the front end  1980  of the vehicle chassis towards the top of the cylindrical body  1970 . This feature is intended to deflect dense vegetation canopies, as may be seen in a commercial tree orchard, thereby easing the forward progress of ADV  110 , particularly in very dense vegetation canopies, e.g., an almond tree orchard, a vineyard, or open field of row crops. Further, the elongated vehicle body provides a vehicle configuration which maximizes the space available for fluid tanks and operating equipment, while maintaining a sleek profile with an up-sloped front that facilitates the passage of ADV  110  through the vegetation canopy. 
     A modified version of ADV  110  suitable for a vineyard can be about 84″ wide and 225″ long, have a similar profile and use a 4-cylinder turbocharged diesel engine. It also can have a 600 gallon stainless steel premixed solution tank, a 60-gallon diesel fuel tank, and a 60 gallon hydraulic fuel tank. As with full-scale ADV  110 , the engine propels a hydraulic pump, which drives the wheels  202   a - d . The rear dispersal fan  230  housing and delivery duct  232  of modified ADV  110  can be configured to completely spray two adjacent rows of vines, allowing every-other-row movement through the predefined area of the vineyard, increasing efficiency. Other embodiments of ADV  110  may be manufactured to meet the row width of nearly any cultured crop. Other structures, controls, and functions can be similar to the full-scale ADV  110 , which may be used for tree orchards or open field crop applications. 
     Method embodiments can be derived from the foregoing including, without limitation, autonomously determining the forward path with a forward-looking sensor; autonomously following the forward path; and while following the forward path, autonomously dispersing a premixed solution to contact an object adjacent to the forward path. The object can be a tree in a row or rows of trees or a vine in a row or rows of vines or a plant in a row or rows of crops. The forward path can be the forward path adjacent to a row or rows of trees or vines or row crops. Following the forward path can be following the forward path between an adjacent row or rows of trees or vines or row crops. Dispersing can include dispersing a premixed solution to contact ones of the adjacent row or rows of trees or vines or row crops. Determining the forward path can include determining an area containing the forward path using a GPS sensor. The method can include employing an autonomous delivery vehicle for dispersing the premixed solution, and communicating a location of the forward path of the autonomous delivery vehicle to a mobile control center. Determining the forward path adjacent to a row or rows of trees or vines with a forward-looking sensor can be performed by a mapper vehicle. Further, the method can include downloading a pre-identified forward path between adjacent row or rows of trees or vines or row crops, comparing the current forward path between adjacent row or rows of trees or vines or row crops to the downloaded forward path between adjacent row or rows of trees or vines or row crops, and autonomously correcting a heading corresponding to the downloaded forward path between two adjacent row or rows of trees or vines or row crops, using the forward-looking sensor and the GPS sensor. The method can further include downloading a predefined serpentine forward path having turns within a predefined area, autonomously moving along the predefined serpentine forward path, autonomously and selectively dispersing the premixed solution to trees or vines or row crops except during a turn, wherein the predefined serpentine forward path is identified by a forward-looking LiDAR sensor, and the predefined area is identified by a GPS sensor. 
     The examples used herein are intended merely to facilitate an understanding of ways in which the invention may be practiced and to further enable those of skill in the art to practice the embodiments of the invention. Accordingly, the examples and embodiments herein should not be construed as limiting the scope of the invention, which is defined solely by the appended claims and applicable law. Moreover, it is noted that like reference numerals represent similar parts throughout the several views of the drawings, although not every figure may repeat each and Every feature that has been shown in another figure in order to not obscure certain features or overwhelm the figure with repetitive indicia. It is understood that the invention is not limited to the specific methodology, devices, apparatuses, materials, applications, etc., described herein, as these may vary. It is also to be understood that the terminology used herein is used for the purpose of describing particular embodiments only, and is not intended to limit the scope of the invention.