TY - GEN
T1 - Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation
AU - Oksanen, Timo
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84925340242&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-07488-7_29
DO - 10.1007/978-3-319-07488-7_29
M3 - Conference contribution
AN - SCOPUS:84925340242
T3 - Springer Tracts in Advanced Robotics
SP - 425
EP - 438
BT - Field and Service Robotics - Results of the 9th International Conference
A2 - Mejias, Luis
A2 - Corke, Peter
A2 - Roberts, Jonathan
A2 - Roberts, Jonathan
PB - Springer Verlag
T2 - 9th International Conference on Field and Service Robotics, FSR 2013
Y2 - 9 December 2013 through 11 December 2013
ER -