Accuracy and Performance Experiences of Four Wheel Steered Autonomous Agricultural Tractor in Sowing Operation
نویسنده
چکیده
In agriculture, a typical task is to do a coverage operation for a field. Coverage path planning algorithms can be used to create the path for a vehicle. In case of an autonomous agricultural vehicle, the path is provided to the guidance or navigation system that steers the vehicle. In this paper, a four wheel steered tractor is used in autonomous sowing operation. The full size tractor is equipped with 2.5 m hitch mounted seed drill and the developed guidance system is used to sow about six hectares spring wheat. In this paper is presented the results of the guidance accuracy in the field tests, in four field plots. The guidance accuracy in terms of lateral and angular error to the path is typically less than 10 cm and one degree, respectively. The paper also presents real life problems happened in the field tests, including losing GPS positioning signal and tractor safety related wireless communication problems.
منابع مشابه
Guidance system for agricultural tractor with four wheel steering
In a typical automatic guidance system for agricultural machines, the guidance system controls only one degree of freedom; either the steering angle of the front wheels of the tractor or other steering equipment is used for steering. In a tractor with the multiple degrees of freedom, like four wheel steering, the guidance system may use both the degrees of freedom for path tracking. However, th...
متن کاملDesign of the Embedded System and Data Communication for an Agricultural Autonomous Vehicle
This paper describes an implemented design of an autonomous vehicle used in precision agriculture for weed and crop map construction with special focus on the onboard controlsystem, the embedded system and the datacommunication system. The vehicle is four wheel driven and four wheel steered (eight DC motors in total) with dimension of approx. 1x1x1 meters. It is constructed with four simular wh...
متن کاملWheel Slip Identification and its Use in the Robust Control of Articulated Off-road Vehicles
In this paper, sliding mode controllers (SMC) are designed for a steerable tractor-trailer system, which is operating in the presence of longitudinal and lateral slips at front and rear wheels. Such vehicles intended for autonomous operations usually traverse at low speeds along straight lines. As very low accelerations are involved kinematic models seem sufficiently accurate for developing con...
متن کاملA method to define agricultural robot behaviours
A new method is described that can be used to decompose human controlled agricultural operations into an autonomous tractor. Four main levels of subsumption have been identified: Operation, Task, Optimisation and Primitive Actions where each level is subsumed by the level above. Tasks were classified into two distinctive roles, deterministic tasks that can be planned and optimised before the op...
متن کاملDecomposition of Agricultural tasks into Robotic Behaviours
A new method is described that can be used to decompose human controlled agricultural operations into robotic behaviours embedded in an autonomous tractor. Four main levels have been identified: Operation, Task, Optimisation/Behaviour and Primitive actions where each level is subsumed by the level above. Tasks were further classified into two distinctive types, deterministic tasks that can be p...
متن کامل