Design of control system for driverless tractor

Abstract

This paper uses Tianjin TieNiu crawler tractor as the experimental platform to design an unmanned agricultural machinery control system based on RTK-GPS (Differential GPS Technology). The article expounds the overall design of the control system and proposes a path tracking control algorithm. Simulation and experimental results show that the control algorithm can complete the path tracking requirements of unmanned agricultural machinery. The system can control the unmanned agricultural machinery to follow a predetermined route. The speed is 0.55m/s, the maximum error of linear path tracking of agricultural machinery is 4.09cm, the average error is 2.20cm, the maximum error of large diameter circular path tracking is 20.67cm, the average error is 8.34cm, and the maximum error of continuous small diameter turning path tracking is 23.14cm, the average error is 7.38cm, both meet the operational requirements.

Keywords

• unmanned agricultural machinery
• path tracking
• rtk-gps