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The small crawler driven wagon was equipped with RTK-GPS and rotary encoders at driving wheels. The position of the vehicle was measured with RTK-GPS and the orientation was estimated with Kalman Filter using the kinematic model of the vehicle, and the linear quadratic regulator (LQR) was designed using the same model. The models were built for straight line tracing and arc line tracing, so that most of trajectory required for the transportation of farm work can be completed, combining those lines.

The autonomous traveling of straight line tracing and circular arc line tracing were simulated and availability of the estimator and the regulator was verified and he possibility of RTK-GPS-based autonomous crawler vehicle control without IMU was proposed.