Agricultural Vehicle Navigation Using Multiple Guidance Sensors
نویسندگان
چکیده
Agricultural vehicle navigation includes both on-road and on-field operations. The objective for on-road navigation is to guide the vehicle traveling on paved or prepared road according to a scheduled path plan, and for on-field guidance is to guide the vehicle following crop rows without overrun on crops. In this paper, the authors have presented an on-field navigation system with redundant sensors of a vision sensor, a fiber optic gyroscope (FOG), and RTK GPS. A steering controller has been developed to implement steering control based on guidance information obtained from guidance sensors. The navigation system has evaluated on an agricultural vehicle. A research platform has been developed based on a Case-IH Magnum 8920 2-wheel drive agricultural tractor. Results indicated that the multiple sensor based agricultural vehicle navigation system was capable of guiding the tractor traveling between crop rows accurately.
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Xiaojun Wan,Gang Liu * Key Laboratory of Modern Precision Agriculture System Integration Research, China Agricultural University, P. O. Box125, Qinghuadonglu 17, Haidian District, Beijing, 100083, P. R. China * Corresponding author, Address: P. O. Box 125, China Agricultural University, Qinghua Donglu 17, Haidian District, Beijing, 100083, P. R. China, Tel:+86-10-62736741, Fax:+86-10-62736746, ...
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