Map-Based Control for Autonomous Tractors

An autonomous tractor requires not only automatic steering (automatic guidance) but also automated control of tractor functions and implement operations. Examples of tractor functions include engine throttle, transmission speed, and 3-point hitch position. Implement operations include tillage, planting, and cultivating. This article provides an overview of a map-based methodology used for the implementation of autonomous field operations of agricultural tractors. The procedure for developing autonomous field operation maps were presented, and several important issues in the implementation of map-based autonomous operations were discussed. These issues included combining field operation maps, position offset, and real-time sensing and update of field operation maps.