Abstract
An automatic tractor guidance system has been developed to navigate the tractor along the rectangular path on sloped terrain. For this purpose the following steps were made: 1) a coordinate transformation system was designed to determine the tractor position with respect to the rectangular path; 2) a steering controller was also designed where feedback control method was applied for the rectilinear motions along the contour lines, uphill and downhill directions; and a feedforward control method was developed for the quarter turns of the rectangular path; 3) finally the feedback and feedforward control methods were compounded to guide the tractor along the rectangular path; 4) field tests on automatic tractor guidance system were successfully conducted on sloped terrain.
