Path following studies with an articulated farm vehicle

The operation of agricultural field machinery is often considered to be an arduous task performed under difficult conditions. The availability and affordability of advanced technologies has provided sufficient means to allow many repeatable tasks to be performed autonomously within a satisfactory level of precision. An articulated field robot based on a commercially available row crop sprayer vehicle has been developed. Navigation and positioning functions are achieved using a wide-area precision DGPS. Onboard sensors monitor engine, hydraulic, electrical, and control plane parameters. This paper describes the implemented methodology for general path creation and following for an articulated farm vehicle. A robust derivation of 'bang-bang' control signals has been considered. Fundamental maneuvering components have been identified, and are applicable to any movement between configurations of the articulated vehicle. The paper will report the general characteristics of autonomously maneuvering the articulated vehicle, and will demonstrate the highly-practical application of this technology in the agricultural field environment.