Design and Development of an Autonomous System for Agricultural Tractor
This study describes the design and modification of a tractor for automatic control. The automated system developed for the unmanned tractor was for the purpose of master slave operation in the agricultural sector. In this study, an hydrostatic transmission of the Kubota tractor was selected as t...
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis |
| Language: | English |
| Published: |
2004
|
| Subjects: | |
| Online Access: | http://psasir.upm.edu.my/id/eprint/5917/1/FK_2004_33%20IR.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This study describes the design and modification of a tractor for automatic control.
The automated system developed for the unmanned tractor was for the purpose of
master slave operation in the agricultural sector. In this study, an hydrostatic
transmission of the Kubota tractor was selected as the research platform.
Modifications were carried out in order to automate the manual control tractor. The
automated system was capable to direct the tractor to the target location given by the
user. The sensing system guides the tractor to move along the path determined by the
controller based on the information from the sensors.
The automated system was developed by combining of electromechanical system,
multi-sensor integration and control software. The electromechanical system (electrohydraulic
and electro-pneumatic) was used to control the gear, brake, steering and
accelerator system. The integration of sensors (Ultrasonic sensor, range sensor,
magnetic sensor, encoder and potentiometer) provided the surrounding information to
the tractor controller. The controller consists of series I/O modules (ICP 17000) and also pair of radio modem for data transmission. The graphical user interface software
to control the automated system was developed using the Visual Basic.
The automated system developed for ignition, gear, brake, accelerator and steering
systems can be control remotely through the use of Graphical User Interface (GUI).
The GUI has features, which enable the user to monitor the tractor condition and
movement of the tractor by referring to the simulation layer. The simtdation layer
consist of pre-determined field map, scaled at lcm: 1m.The simulation movement of
the tractor was configured to coordinate with the real tractor movement. The GUI also
enables the user to use keyboard to control the tractor movement. The GUI has a
capability to calculate the location of the given target location and plan the tractor
movement to the target location and assist the tractor to avoid the obstacle in the
tractor path. |
|---|