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A MODELING OF A MOVEMENT OF A SEMI- CRAWLER TRACTOR AND AN ADAPTIVE OPERATIONAL STEERING CONTROL

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Automation Technology for Off-Road Equipment,Proceedings of the 7-8 October 2004 Conference (Kyoto, Japan)Publication Date 7 October 2004  701P1004.(doi:10.13031/2013.17852)
Authors:   Keiichi Inoue, Noriyuki Murakami, Sumi Miyaura
Keywords:   Semi-crawler Tractor, Automatic Steering Control, Off road vehicle, Autonomous, Filtering, Vehicle modeling

The objective of this paper is to explore an adaptive control method of an autonomous semi- crawler tractor (front wheel drive, rear crawler drive tracked vehicles) of 90HP equipped with a planter to achieve accurate soybean seeding at high speed in the field. RTK-GPS which is used for measuring the trace and carrier type low cost DGPS and inertial measuring unit (IMU), which are hybrid combined using a filtering method, are installed on the tractor. Each yaw rate, roll rate, pitch rate and the trace of the tractor and steering angle are measured dynamically in high-speed field work and the movement is analyzed dynamically using a kinetic model of a semi- crawler tractor model to determine the parameters of the model. The tractor equipped with a planter is successfully controlled and is able to trace the target line correctly by the method of robustic adaptive control of the electro-hydraulic system of the tractor.

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