2002 Volume 64 Issue 6 Pages 88-95
An automatic tractor guidance system for contour line travel on sloped terrain has been developed. To actualize this system, four procedures were done. First, a neural network (NN) vehicle model was proposed to obtain relations between the steerage and behavior of tractors on sloped terrain. Second, a navigation planner for contour run is constructed by the use of NN based vehicle model. Third, an optimal control theory is applied to the design of a steering controller. As two variables: lateral displacement and heading angle are important for contour line tracking control, a quadratic-form cost function of the two are minimized by genetic algorithm. Finally, the fourth procedure involves using an installed steering mechanism, sensors and a Total Station, in carrying out autopilot tractor tests on contour line travel. The overall performance of the developed navigation system for the contour line tracking tractor-like robot was successful. Paper 2 will discuss a navigation planner for a rectangular path on sloped terrain.
