Development of a Low Level Autonomous Machine
This autonomous machine was developed on a Case IH DX 34H tractor with the purpose of providing a machine for testing software and sensors in a true agricultural environment. The tractor was equipped with sensors capable of sensing the speed and heading of the tractor. A control architecture was developed that received input commands from a human or computer in the form of a target heading and speed. The control architecture then adjusted controls on the tractor to make the tractor reach and maintain the target heading and speed until a new command was provided. The tractor was capable of being used in all kinds of weather, although some minor issues arose when testing in rain and snow. The sensor platform developed was found to be insufficient for proper control. The control structure appeared to work correctly, but was hindered by the poor sensor platform performance.
Advisor:Daku, Brian L; Laguë, Claude; Maulé , Charles; Roberge, Martin
School:University of Saskatchewan
School Location:Canada - Saskatchewan
Source Type:Master's Thesis
Keywords:vehicle navigation tractor controller autonomous machine
Date of Publication:09/05/2008