DEVELOPMENT OF THE AGRICULTURAL AUTONOMOUS TRACTOR WITH AN RTK-GPS AND A FOG

摘要

The autonomous tractor system engaged in all type of operations at fields was developed in the paper. The developed system adopted an RTK-GPS and a Fiber Optical Gyroscope (FOG) as navigation sensors. The sensor-fusion algorithm based on Least Squares Method for estimating FOG bias in each step for detecting an absolute vehicle heading was developed. An Autonomous tractor has to have a mission planner including a path planner, because the tractor uses some types of implement under various settings of PTO, transmission, and engine speed. The navigation maps consisted of a desired path and commands including PTO status, transmission, and other functions were generated by a GIS software for each farm operation. The developed system could autonomously perform a rotary tillage with 6 cm error from the scheduled path at 1.5 m/s by applying the navigation map.