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|Title:||Automatic steering systems based on relative position|
|Author:||Baldo, Rodrigo F. G.|
Stombaugh, Timothy S.
Magalhães, Paulo S. G.
Zandonadi, Rodrigo S.
|Abstract:||All mechanical sugar cane harvesting uses a separate wagon to receive the material from the harvester. This wagon is usually pulled by another vehicle, which must follow a parallel path with respect to the harvester. Substantial harvest losses are caused by the lack of vehicle synchronization. This issue can be addressed by using automated guidance systems on both vehicles; however, the costs associated with equipping all the fleet vehicles with the required high accuracy GNSS (Global Navigation Satellite System) receivers are prohibitive. By using local distance sensors between the operating vehicles, their relative position could be determined based on the harvester's, which is the leading vehicle in the process, and the only vehicle carrying the high accuracy GPS receiver. This paper presents the development, and the Field testing of steering control system based on relative position determined by distance sensors installed in the vehicle. The tests were conducted at the University of Kentucky, USA; by varying the offset of the parallel distance between the machines and measuring the settling time. The results were considered positive since the average settling time was about 7 seconds, and the maximum steady state error was 0.12 m.|
|Subject:||Agricultura de precisão|
|Editor:||Engineering Research Publication|
|Appears in Collections:||FEAGRI - Artigos e Outros Documentos|
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