Autonomous folding farm implement and method

An autonomous method for a farm implement comprising:

• capturing image data from at least one imaging sensor;
• determining an initial state of the farm implement based on the image data;
• detecting at least one obstacle in the image data;
• determining, from the image data, a suitable location for an implement state transition of the farm implement and far enough from the at least one obstacle to start the implement state transition;
• determining an obstacle avoiding trajectory to the suitable location;
• instructing a power platform to travel the obstacle avoiding trajectory until the suitable location is reached;
• and
• performing the implement state transition of the farm implement from the initial state.

A kit for assembling an autonomous system for a farm implement, the kit comprising:

• at least one imaging sensor configured to capture image data of the farm implement;
• a processing structure configured to execute a plurality of instructions from a tangible computer-readable memory, the instructions comprise:
• determining an initial state of the farm implement based on the image data;
• detecting at least one obstacle in the image data;
• determining, from the image data, a suitable location for an implement state transition of the farm implement and far enough from the at least one obstacle to start the implement state transition;
• determining an obstacle avoiding trajectory to the suitable location;
• a control interface configured to instruct a power platform to travel the obstacle avoiding trajectory until the suitable location is reached;
• and
• performing the implement state transition of the farm implement from the initial state.