Abstract
A combine harvester Robot using CAN Bus and mounting a detachable sensing modules was developed. This robot was possible to autonomous harvest to combine forward, rearward and turning traveling. However we harvested three initial perimeters to keep a space where this robot turn and ejected grain from grain tank by manual control. The accuracy of autonomous travel (it means the deviation between actual travel paths and target paths) was RMS 0.07m. This deviation is smaller than crop rows (30cm) on paddies or wheat fields. So this combine harvester robot can harvest without treading plants near by crop row. Additionally the working efficiency of the combine harvester robot was 17a/hat a traveling speed of 0.6m/s.
