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DGPS Navigation Control System for Rice Transplanter

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

Citation:  2007 ASAE Annual Meeting  071013.(doi:10.13031/2013.22888)
Authors:   Xiwen Luo, Zhigang Zhang
Keywords:   DGPS, GIS, Navigation control, Rice transplanter

A navigation control system was developed for rice transplanter which included navigation sensors, DC motor steering control system and navigation control computer. RTK-DGPS, MEMS gyroscope, electronic compass were used to determine the position and orientation of the rice transplanter. According to the paddy task of rice transplanter, the syetem should realize the path tracking and headland turning. In this paper, an trajectory tracking controller based BP neural network was developed and used to realize the path tracking; an adaptive PD orientation tracking controller was designed to realize the headland turning. Using GIS, a path planning algorithm was designed to generate an appropriate tracking path map for paddy task. Based on the position of rice transplanter in the GIS map, the trajectory tracking controller or the orientation tracking controller was chosen to realize the necessary guidance control action. Field experimental result showed that at the traveling speed of 0.6m/s, an average offset error was less than 0.15 meter for path tracking, turn radius was less than 1 meter for headland turning.

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