Automatic tractor guidance using carrier-phase differential GPS

Bell, Thomas

doi:10.1016/s0168-1699(99)00055-1

Cited by 119 publications

(57 citation statements)

References 5 publications

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“…GPS systems have become popular for determining vehicle positions and contribute significantly to automatic steering in agricultural vehicles, especially in the USA and Europe, where there are large fields. A number of studies used the GPS as a base sensor for the navigation of agricultural tractors [1][2][3][4][5]. A GPS-based rice transplanter was developed, but it was limited by tree canopies and high-rise buildings that interfered with the signals [6].…”

Section: Introductionmentioning

confidence: 99%

Navigation of an Autonomous Tractor for a Row-Type Tree Plantation Using a Laser Range Finder—Development of a Point-to-Go Algorithm

2015

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Abstract:It is challenging to develop a control algorithm that uses only one sensor to guide an autonomous vehicle. The objective of this research was to develop a control algorithm with a single sensor for an autonomous agricultural vehicle that could identify landmarks in the row-type plantation environment and navigate a vehicle to a point-to-go target location through the plantation. To enable such a navigation system for the plantation system, a laser range finder (LRF) was used as a single sensor to detect objects and navigate a full-size autonomous agricultural tractor. The LRF was used to control the tractor as it followed a path, and landmarks were detected "on-the-go" in real time. The landmarks were selected based on data for their distances calculated by comparison with the surrounding objects. Once the landmarks were selected, a target point was calculated from the landmarks, and the tractor was navigated toward the target. Navigation experiments were successfully conducted on the selected paths without colliding with the surrounding objects. A real time kinematic global positioning system (RTK GPS) was used to compare the positioning between the autonomous control and manual control. The results of this study showed that this control system could navigate the autonomous tractor to follow the paths, and the vehicle position differed from the manually driven paths by 0.264, 0.370 and 0.542 m for the wide, tight, and U-turn paths, respectively, with directional accuracies of 3.139°, 4.394°, and 5.217°, respectively, which are satisfactory for the autonomous operation of tractors on OPEN ACCESSRobotics 2015, 4 342 rubber or palm plantations. Therefore, this laser-based landmark detection and navigation system can be adapted to an autonomous navigation system to reduce the vehicle`s sensor cost and improve the accuracy of the positioning.

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Section: Introductionmentioning

confidence: 99%

Navigation of an Autonomous Tractor for a Row-Type Tree Plantation Using a Laser Range Finder—Development of a Point-to-Go Algorithm

2015

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“…Measured values of pass-to-pass errors were obtained with the help of a laser rangefinder (accuracy ± 0.002 m declared by manufacturer) by means of the so-called matrix method. The method principle is the measurement of the distance between axes or tyre tracks of two neighbouring passes and is described by Bell (2000). The deviations between the actual working width in the field and the implement design width were calculated.…”

Section: Methodsmentioning

confidence: 99%

Machinery guidance systems analysis concerning pass-to-pass accuracy as a tool for efficient plant production in fields and for soil damage reduction

2014

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summarize the following general benefits from the use of guidance systems: reduction in driver fatigue, reduction in costs, increase in productivity, improved work quality, improved safety, less impact on the environment, possibility for work at night and when visibility is poor.Many different types of guidance systems such as ground-based sensing systems, laser systems, Machinery guidance systems analysis concerning pass-to-pass accuracy as a tool for efficient plant production in fields and for soil damage reduction Z. Kvíz, M. Kroulik, J. Chyba Department of Agricultural Machines, Faculty of Engineering, Czech University of Life Sciences Prague, Prague, Czech Republic ABSTRACTMachines without satellite navigation in fields have a tendency to pass-to-pass errors, especially unwanted overlaps, resulting in waste of fuel and pesticides, longer working times and also environmental damage. This paper evaluates the accuracy of individual machinery passes in fields. Real pass-to-pass errors (omissions and overlaps) in a field were measured on different tractor-implement units with and without guidance system utilization and a comparison between observed guidance arrangements was made regarding final working accuracy and possible benefits from navigation utilization. Additionally, intensity of machinery passes, and repeated passes on soil, as a possible risk for soil compaction in fields, were monitored. The outcomes from our measurements revealed a statistically significant difference between the total area treated by machinery without any guidance system and machinery using precise guidance systems. Concerning the intensity of traffic in fields, it was found out that more than 86% of the total field area was run-over at least once during one cropping season when using conventional tillage practice. The usage of guidance systems can reduce machinery traffic in field to some extent as well and thus improve soil conditions.

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“…Sistem RTK (Real-Time-Kinematic) adalah suatu akronim yang sudah umum digunakan untuk sistem penentuan posisi real-time secara differensial menggunakan data fase. Untuk merealisasikan tuntutan real time, stasiun referensi harus mengirimkan data fase dan psedorange-nya ke pengguna secara real-time menggunakan sistem komunikasi data tertentu (Bell, 2000). Peralatan lain yang digunakan, yaitu micro controller DT-AVR ATmega 128 sebagai pengendali motor penggerak tuas sistem kemudi, komputer laptop untuk pemrosesan data dan inteface, serta sensor gerakan yang berfungsi sebagai pemantau pergerakan masing-masing tuas pada sistem kemudi.…”

Section: Metode Penelitianunclassified

SISTEM PENGENDALI KEMUDI TRAKTOR OTOMATIS EMPAT RODA PADA PENGUJIAN LINTASAN LURUS (Tracking Control System of Autonomous Four Wheel Tractor on Straight Path)

2015

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ABSTRAKPenelitian ini merupakan penelitian pengembangan traktor otomatis. Meskipun penelitian mengenai traktor otomatis telah banyak dilakukan, namun pengembangan masih terus dilakukan untuk mendapatkan presisi yang lebih tinggi dan metode yang optimal. Tujuan penelitian ini adalah mengembangkan sistem pengendali kemudi traktor agar dapat mengikuti jalur kerja lintasan lurus ketika melakukan kegiatan pengolahan tanah. Model yang dikembangkan harus mampu menghitung sudut setir koreksi dari posisi traktor agar traktor mampu berjalan pada lintasan lurus yang telah ditentukan. Arah pergerakan traktor diketahui dari perbandingan dua posisi traktor yang diperoleh dari RTK DGPS. Algoritma pengendalian terdiri dari susunan perintah-perintah untuk mengendalikan traktor bergerak mengikuti lintasan acuan. Simulasi dilakukan untuk mengetahui kemampuan algoritma yang telah dibuat untuk mengendalikan traktor agar dapat berjalan mengikuti lintasan acuan. Kemampuan algoritma tersebut kemudian diuji dalam kondisi riil dilapangan pada lintasan lurus sepanjang 30 m dengan kecepatan traktor 0.5 m/s. Hasil pengujian di lapangan diperoleh tingkat akurasi kinerja kontrol sebesar 97.13% dan besar simpangan rata-rata terhadap lintasan acuan sebesar 8.62 cm. Kata kunci: Traktor otomatis, sistem pengendali kemudi, pengolahan tanah ABSTRACTThis research is the development of autonomous tractor. Although research for automatic tractor have been carried out, but it is still developed to get more precision and optimal method. The purpose of this research is to develop a trajectory control system tractor to follow a straight-line when the working soil tillage. Model that was developed to be able calculate steering angle correction of the tractor position so that the tractor will run on a reference trajectory. Tractor position is determined from RTK DGPS. Tractor direction is calculated from two position of tractor. Control algorithm consists of the arrangement of commands to control the tractor move the reference trajectory. Simulations were performed to determine controlling algorithm ability the tractor to follow reference trajectory. The algorithm ability is tested in real conditions on a straight-line path along 30 m with a speed of tractor 0.5 m/s in a field. The test results obtained in the field of performance accuracy rate is 97.13% control and average deviation with reference trajectory is 8.62 cm.

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Automatic tractor guidance using carrier-phase differential GPS

Cited by 119 publications

References 5 publications

Navigation of an Autonomous Tractor for a Row-Type Tree Plantation Using a Laser Range Finder—Development of a Point-to-Go Algorithm

Navigation of an Autonomous Tractor for a Row-Type Tree Plantation Using a Laser Range Finder—Development of a Point-to-Go Algorithm

Machinery guidance systems analysis concerning pass-to-pass accuracy as a tool for efficient plant production in fields and for soil damage reduction

SISTEM PENGENDALI KEMUDI TRAKTOR OTOMATIS EMPAT RODA PADA PENGUJIAN LINTASAN LURUS (Tracking Control System of Autonomous Four Wheel Tractor on Straight Path)

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