Abstract
This paper is focused on the development of a control system for an autonomous farming vehicle, which can reduce human effort in farming significantly. The system can operate in semiautonomous mode and autonomous mode. It is capable of driving the vehicle using in-vehicle switches in semiautonomous mode. Geometry-based path tracking, proportional controller based speed control, Proportional Integral Derivative (PID) controller based steering control, positional error based speed rectification, and path positional error prediction are used in autonomous mode.
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Acknowledgements
We would like to thank Dr. Binoy B. Nair for his valuable suggestions to complete this project. We would also like to thank Mr. Lakshmikanthan C for providing an opportunity in automation the harvester and helping in the implementation of mechanical design changes in the system. We would like to thank mechanical workshop, Automotive Electronics, Power electronics, and ATS lab staff of Amrita Vishwa Vidyapeetham for helping us in several ways.
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Chatterjee, A., Peeyush, K.P. (2020). Design of Control System for Autonomous Harvester Based on Navigation Inputs. In: Sengodan, T., Murugappan, M., Misra, S. (eds) Advances in Electrical and Computer Technologies. Lecture Notes in Electrical Engineering, vol 672. Springer, Singapore. https://doi.org/10.1007/978-981-15-5558-9_96
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DOI: https://doi.org/10.1007/978-981-15-5558-9_96
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