Abstract
This paper reported about new steering control algorithm. The steering controller developed in previous paper was designed to guide along with a straight path, and it didn't confirm the accuracy of following a curved path. But the robot tractor has to have a function to travel along any curved path precisely to achieve farm management by the robot. The steering control algorithm applied a linear optimal regulator was developed and tested at a field with some curved paths. The developed system showed the outstanding guidance performance comparing to a conventional method which uses a PI controller on all types of the paths including a 90 degree turn, a sinusoidal, and a forward turning paths. In addition, the developed controller could perform high-speed guidance at 3.0m/s more precisely than the conventional PI controller.
