Surface Mapping by RPAs for Ballast Optimization and Slip Reduction in Plowing Operations

Abstract

Driving wheel slippage in agricultural tractors is influenced by soil moisture, density, and penetration resistance. These surface variations reflect post-tillage composition, enabling dynamic mapping via Remotely Piloted Aircraft (RPAs). This study evaluated ballast recommendations based on soil surface data and slippage percentages, correlating added wheel weights at different speeds for a tractor-reversible plow system. Six 94.5 m2 quadrants were analyzed for slippage monitored by RPA (Mavic3M-RTK) pre- and post-agricultural operation overflights and soil sampling (moisture, density, penetration resistance). A 2 × 2 factorial scheme (F-test) assessed soil-surface attribute correlations and slippage under varying ballasts (52.5–57.5 kg/hp) and speeds. Results showed slippage ranged from 4.06% (52.5 kg/hp, fourth reduced gear) to 11.32% (57.5 kg/hp, same gear), with liquid ballast and gear selection significantly impacting performance in friable clayey soil. Digital Elevation Model (DEM) and spectral indices derived from RPA imagery, including Normalized Difference Red Edge (NDRE), Normalized Difference Water Index (NDWI), Bare Soil Index (BSI), Green–Red Vegetation Index (GRVI), Visible Atmospherically Resistant Index (VARI), and Slope, proved effective. The approach reduced tractor slippage from 11.32% (heavy ballast, 4th gear) to 4.06% (moderate ballast, 4th gear), showing clear improvement in traction performance. The integration of indices and slope metrics supported ballast adjustment strategies, particularly for secondary plowing operations, contributing to improved traction performance and overall operational efficiency.