Abstract
Recently, the decrease in number and the aging of agricultural workers have become significant problems. Therefore, the need for automated agricultural vehicles is increasing. This paper provides a control method for an agricultural crawler vehicle. It also provides a self-localization method using Radio Frequency (RF) tags, which measure the distance among nodes using radio waves to identify the accurate position of the vehicle inexpensively. We conducted an experiment to confirm the applicability of the proposed method in real-field conditions. As a result, the lateral error was±0.3 m while moving in a straight line using RF tags. We also conducted an experiment using Real Time Kinematic GPS to test our control method. This resulted in a lateral error of ±0.1 m while moving in a straight line.
