Abstract
The aim of this study was to develop a robot combine harvester that can perform automatic running and harvesting in the field. To achieve this goal, an RTK-GPS receiver with an IMU was used for the acquisition of position and posture data, and the combine harvester was controlled by sending messages to a CAN-based control system. During harvesting, the robot follows a predetermined path called a navigation map. To make a navigation map, two path plans were examined. Field experiments showed that the robot can follow predetermined path plans with a high level of accuracy (0.03 m) and that the accuracy is sufficient for the requirements (0.15 m) of harvesting paddy rice and wheat in Japan.
