Perennial ryegrass biomass yield is an important driver of profitability for Australian dairy farmers, making it a primary goal for plant breeders. However, measuring and selecting cultivars for higher biomass yield is a major bottleneck in breeding, requiring conventional methods that may be imprecise, laborious, and/or destructive. For forage breeding programs to adopt phenomic technologies for biomass estimation, there exists the need to develop, integrate, and validate sensor-based data collection that is aligned with the growth characteristics of plants, plot design and size, and repeated measurements across the growing season to reduce the time and cost associated with the labor involved in data collection. A fully automated phenotyping platform (DairyBioBot) utilizing an unmanned ground vehicle (UGV) equipped with a ground-based Light Detection and Ranging (LiDAR) sensor and Real-Time Kinematic (RTK) positioning system was developed for the accurate and efficient measurement of plant volume as a proxy for biomass in large-scale perennial ryegrass field trials. The field data were collected from a perennial ryegrass row trial of 18 experimental varieties in 160 plots (three rows per plot). DairyBioBot utilized mission planning software to autonomously capture high-resolution LiDAR data and Global Positioning System (GPS) recordings. A custom developed data processing pipeline was used to generate a plant volume estimate from LiDAR data connected to GPS coordinates. A high correlation between LiDAR plant volume and biomass on a Fresh Mass (FM) basis was observed with the coefficient of determination of R² = 0.71 at the row level and R² = 0.73 at the plot level. This indicated that LiDAR plant volume is strongly correlated with biomass and therefore the DairyBioBot demonstrates the utility of an autonomous platform to estimate in-field biomass for perennial ryegrass. It is likely that no single platform will be optimal to measure plant biomass from landscape to plant scales; the development and application of autonomous ground-based platforms is of greatest benefit to forage breeding programs.

Across-season biomass assessment is crucial in the cultivar selection process to accurately evaluate the yield performance of lines under different growing conditions. However, it has been difficult to have an accurate, reliable, and repeated fresh biomass (FM) estimation of large populations of plants in the field without destructive harvesting, which incurs significant labor and operation costs. Sensor-based phenotyping platforms have advanced in the data collection of structural and vegetative information of plants, but the developed prediction models are still limited by low correlations at different growth stages and seasons. In this study, our objective was to develop and validate the global prediction models for across-season harvested fresh biomass (FM) yield based on the ground- and air-based sensor data including ground-based LiDAR, ground-based ultrasonic, and air-based multispectral camera to extract LiDAR plant volume (LV), LiDAR point density (LV_Den), height, and Normalized Difference Vegetative Index (NDVI). The study was conducted in a row-plot field trial with 480 rows (3 rows in a plot per cultivar) throughout the whole 2020 growing season up to the reproductive stage. We evaluated the performance of each plant parameter, their relationship, and the best subset prediction models using statistical stepwise selection at the row and plot levels through the seasonal and combined seasonal datasets. The best performing model: FM~LV∗LV_Den∗NDVI had a determination of coefficient R² of at least 0.9 in vegetative stages and 0.8 in the reproductive stage. Similar results can be achieved in a simpler model with just two LiDAR variables—FM~LV∗LV_Den. In addition, LV and LV_Den showed a robust correlation with FM on their own over seasons and growth stages, while NDVI only performed well in some seasons. The simpler model based on only LiDAR data can be widely applied over season without the need of additional sensor data and may thus make the in-field across-season biomass assessment more feasible and practical for fast and cost-effective development of higher biomass yield cultivars.