Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation

Timo Oksanen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationField and Service Robotics - Results of the 9th International Conference
EditorsLuis Mejias, Peter Corke, Jonathan Roberts, Jonathan Roberts
PublisherSpringer Verlag
Pages425-438
Number of pages14
ISBN (Electronic)9783319074870
DOIs
StatePublished - 2015
Externally publishedYes
Event9th International Conference on Field and Service Robotics, FSR 2013 - Brisbane, Australia
Duration: 9 Dec 201311 Dec 2013

Publication series

NameSpringer Tracts in Advanced Robotics
Volume105
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference9th International Conference on Field and Service Robotics, FSR 2013
Country/TerritoryAustralia
CityBrisbane
Period9/12/1311/12/13

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