Autopilot for a combine harvester

Authors:
T. Coen;A. Vanrenterghem;W. Saeys;J. De Baerdemaeker
Affiliations:
BIOSYST-MeBioS, Katholieke Universiteit Leuven, Kasteelpark Arenberg 30, B-3001 Heverlee, Belgium;BIOSYST-MeBioS, Katholieke Universiteit Leuven, Kasteelpark Arenberg 30, B-3001 Heverlee, Belgium;BIOSYST-MeBioS, Katholieke Universiteit Leuven, Kasteelpark Arenberg 30, B-3001 Heverlee, Belgium;BIOSYST-MeBioS, Katholieke Universiteit Leuven, Kasteelpark Arenberg 30, B-3001 Heverlee, Belgium
Venue:
Computers and Electronics in Agriculture
Year:
2008

Citing 0
Cited 5

Original paper: Path planning for in-field navigation-aiding of service units

Computers and Electronics in Agriculture
Review: Sensing technologies for precision specialty crop production

Computers and Electronics in Agriculture
Original paper: Stereo vision with texture learning for fault-tolerant automatic baling

Computers and Electronics in Agriculture
LiDaR sensing to monitor straw output quality of a combine harvester

Computers and Electronics in Agriculture
Moving horizon estimation and nonlinear model predictive control for autonomous agricultural vehicles

Computers and Electronics in Agriculture

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper describes the design of a robust automatic guidance system for a combine harvester. The automatic steering system controls the harvester based on the measured position of the swath on the field. The swath is detected using a laser scanner. The translation and rotation of the machine are taken into account to recalculate the swath's relative position every time step. With the help of a model of the harvester (derived in this paper), the desired wheel position is calculated in function of the desired bearing change. The desired wheel position is then transmitted over the CAN network of the harvester to the actuator.