An automatic navigation system with multiple sensors including a vision sensor, RTK GPS and an electronic-compass was developed. Data from the sensors were fused by a feedback algorithm. And the steering angle was calculated based on the fuzzy logic module. A steering controller was developed to control steering using guidance information obtained from the sensors. A golf-car was taken as the research platform which was equipped with an angle sensor, an accelerometer and a steering controller. The row-crop was selected as the interested crop. Navigation of the vehicle in the farmland could be realized by the system.

Keywords

GPS machine vision navigation sensor fusion PID steering controller 

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Copyright information

© IFIP International Federation for Information Processing 2008

Authors and Affiliations

  • Xiaojun Wan
    • 1
  • Gang Liu
    • 1
  1. 1.China Agricultural UniversityChina

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