A Vehicle Guidance Controller

Abstract

ABSTRACT A microcomputer-based vehicle guidance controller used to control a tractor in the field is discussed. The microcomputer detects positional errors using signals from an antenna mounted on the tractor, determines the correct steering action, and steers the tractor using the hydraulic steering system of the tractor. The performance was evaluated by measuring the steering response to various paths negotiated at different speeds. The data were analyzed statistically and the performance of the two steering algorithms tested was compared. Results indicated that the steering accuracy was satisfactory for most field operations. Ninety-five percent of the microcomputer's time is available to perform functions other than guidance.