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Received: 2004-04-16

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Journal of Zhejiang University SCIENCE A 2005 Vol.6 No.4 P.270~275


Study on dynamic model of tractor system for automated navigation applications

Author(s):  FENG Lei, HE Yong

Affiliation(s):  School of Bio-system Engineering and Food Science, Zhejiang University, Hangzhou 310029, China

Corresponding email(s):   hzfenglei@mail.hz.zj.cn, yhe@zju.edu.cn

Key Words:  Tractor, Cornering stiffness, Automated navigation, Simulation, GPS

FENG Lei, HE Yong. Study on dynamic model of tractor system for automated navigation applications[J]. Journal of Zhejiang University Science A, 2005, 6(4): 270~275.

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author="FENG Lei, HE Yong",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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T1 - Study on dynamic model of tractor system for automated navigation applications
A1 - FENG Lei
A1 - HE Yong
J0 - Journal of Zhejiang University Science A
VL - 6
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SP - 270
EP - 275
%@ 1673-565X
Y1 - 2005
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2005.A0270

This research aims at using a dynamic model of tractor system to support navigation system design for an automatically guided agricultural tractor. This model, consisting of a bicycle model of the tractor system, has been implemented in the MATLAB environment and was developed based on a John Deere tractor. The simulation results from this MATLAB model was validated through field navigation tests. The accuracy of the trajectory estimation is strongly affected by the determination of the cornering stiffness of the tractor. In this simulation, the tractor cornering stiffness analysis was identified during simulation analysis using the MATLAB model based on the recorded trajectory data. The obtained data was used in simulation analyses for various navigation operations in the field of interest. The analysis on field validation test results indicated that the developed tractor system could accurately estimate wheel trajectories of a tractor system while operating in agricultural fields at various speeds. The results also indicated that the developed system could accurately determine tractor velocity and steering angle while the tractor operates in curved fields.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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2014-12-17 18:55:57

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