Verification of Tractor Guidance Algorithms

ABSTRACT ALGORITHMS, developed through the use of simulation techniques, for guiding agricultural machines were verified and tested by implementing them on scale model machines. The models were unpowered and maneuvered laterally across a moving belt which simulated forward motion. Machine configurations tested were front-steered tractors with towed implements and rear-steered machines with front-mounted headers. The guidance algorithms were developed to maintain an implement control point on a predefined path. They were programmed on a microcomputer, which controlled the steering of a scale model tractor and also collected performance data from the instrumented models.