Development of a Flexible Platform for Agricultural Automatic Guidance Research
نویسندگان
چکیده
This paper describes an agricultural vehicle modified to serve as a research platform for agricultural engineering. A tractor was equipped with a global positioning receiver, inertial/GPS system, geomagnetic direction sensor, and a monochrome camera for local and global sensing. For steering control, the tractor was equipped with an electro-hydraulic proportional steering valve, PWM coil valve driver, and potentiometer wheel angle sensor. The high flexibility of this platform has enabled research in the areas of row crop guidance, sensor fusion and evaluation, automation, vehicle dynamics modeling, and steering control. We discuss the benefits and drawbacks to this platform and the research made available through its development.
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