Automatic guidance of farm vehicles using GPS receiver: capabilities improvement in harsh and sliding conditions

Abstract

Many agricultural works (sowing, spreading~) require a very precise guidance (about few centimetres in lateral error). Developments showed that the kinematic GPS was a relevant sensor to carry out a guidance system satisfying such level of precision. However the solutions proposed today on the market are limited to the follow of straight lines on flat ground. The research tasks realized by the Cemagref concern developments of control laws improving the response of the guidance system to the disturbances introduced by the presence of slip (works in curve or slope conditions). GUIDAGE, LOCALISATION GPS, PERFORMANCE, SEMIS, EPANDAGE, CINEMATIQUE, CAPTEUR, RECHERCHE, CEMAGREF, PENTE, COURBE