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

Timo Oksanen*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

11 Citations (Scopus)


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 languageEnglish
Title of host publicationField and Service Robotics - Results of the 9th International Conference
PublisherSpringer Verlag
Number of pages14
ISBN (Electronic)9783319074870
Publication statusPublished - 2015
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Field and Service Robotics - Brisbane, Australia
Duration: 9 Dec 201311 Dec 2013
Conference number: 9

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)16107438
ISSN (Electronic)1610742X


ConferenceInternational Conference on Field and Service Robotics
Abbreviated titleFSR

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