Abstract
An automatic power steering control system is modified to a tractor of 66kw engine power and using a navigation system of optical fiber gyroscope (IMU) and real-time kinematic GPS which are hybrid combined, the movement of the vehicle in the field is analyzed dynamically using a kinetic movement model of tractor to determine the parameters of the model. The tractor equipped with a planter was successfully controlled and was able to trace the target line correctly within 10cm by the method of adaptive travel control using the movement model of the vehicle considering the hydraulic time delay of the power steering mechanism.
