Development of Crawler-Type Robot Tractor Based on GNSS and IMU

The objective of this research was to modify a commercial crawler-type tractor into a robot tractor that can be navigated autonomously by using GNSS receiver and IMU as navigation sensors. Navigation algorithms were developed. Steering control test and autonomous navigation test in farmland were conducted. Steering control test was conducted in different speeds, and the accuracy was evaluated. In each speed, the robot ran with less than 5cm lateral error. Autonomous navigation test was conducted on multi-path map. In headland area, the robot used keyhole turning and transferred to the next path. The robot could finish the multipath navigation successfully.