Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation

Timo Oksanen

doi:10.1007/978-3-319-07488-7_29

Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation

Timo Oksanen^*

^*Corresponding author for this work

Department of Electrical Engineering and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

Abstract

In agriculture, a typical task is to do a coverage operation for a field. Coverage path planning algorithms can be used to create the path for a vehicle. In case of an autonomous agricultural vehicle, the path is provided to the guidance or navigation system that steers the vehicle. In this paper, a four wheel steered tractor is used in autonomous sowing operation. The full size tractor is equipped with 2.5 m hitch mounted seed drill and the developed guidance system is used to sow about six hectares spring wheat. In this paper is presented the results of the guidance accuracy in the field tests, in four field plots. The guidance accuracy in terms of lateral and angular error to the path is typically less than 10 cm and one degree, respectively. The paper also presents real life problems happened in the field tests, including losing GPS positioning signal and tractor safety related wireless communication problems.

Original language	English
Title of host publication	Field and Service Robotics - Results of the 9th International Conference
Publisher	Springer Verlag
Pages	425-438
Number of pages	14
Volume	105
ISBN (Electronic)	9783319074870
DOIs	https://doi.org/10.1007/978-3-319-07488-7_29
Publication status	Published - 2015
MoE publication type	A4 Article in a conference publication
Event	International Conference on Field and Service Robotics - Brisbane, Australia Duration: 9 Dec 2013 → 11 Dec 2013 Conference number: 9

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	105
ISSN (Print)	16107438
ISSN (Electronic)	1610742X

Conference

Conference	International Conference on Field and Service Robotics
Abbreviated title	FSR
Country	Australia
City	Brisbane
Period	09/12/2013 → 11/12/2013

Access to Document

10.1007/978-3-319-07488-7_29

Link to publication in Scopus

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Cite this

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title = "Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation",

abstract = "In agriculture, a typical task is to do a coverage operation for a field. Coverage path planning algorithms can be used to create the path for a vehicle. In case of an autonomous agricultural vehicle, the path is provided to the guidance or navigation system that steers the vehicle. In this paper, a four wheel steered tractor is used in autonomous sowing operation. The full size tractor is equipped with 2.5 m hitch mounted seed drill and the developed guidance system is used to sow about six hectares spring wheat. In this paper is presented the results of the guidance accuracy in the field tests, in four field plots. The guidance accuracy in terms of lateral and angular error to the path is typically less than 10 cm and one degree, respectively. The paper also presents real life problems happened in the field tests, including losing GPS positioning signal and tractor safety related wireless communication problems.",

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Oksanen, T 2015, Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation. in Field and Service Robotics - Results of the 9th International Conference. vol. 105, Springer Tracts in Advanced Robotics, vol. 105, Springer Verlag, pp. 425-438, International Conference on Field and Service Robotics, Brisbane, Australia, 09/12/2013. https://doi.org/10.1007/978-3-319-07488-7_29

Accuracy and performance experiences of four wheel steered autonomous agricultural tractor in sowing operation. / Oksanen, Timo.

Field and Service Robotics - Results of the 9th International Conference. Vol. 105 Springer Verlag, 2015. p. 425-438 (Springer Tracts in Advanced Robotics; Vol. 105).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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