Field Mobile Robot navigated by RTK-GPS and FOG (Part 2)

Autonomous operation by applying navigation map

Abstract

An Autonomous tractor that is able to utilize for all type of operations on fields requires travel in a relatively wide speed range, and has to have a mission planner that controls PTO, transmission, and engine speed as well as path planner. In this paper, the Navigation map, which has not only desired path but also settings of PTO, transmission, engine speed, and other functions as commands to the tractor was invented in order to work out both problems of operation planning and path control.
The developed system adopted an RTK-GPS and a FOG as navigation sensors. It could autonomously perform rotary tillage with 6cm error from scheduled path at 1.5m/s by applying the navigation map.