M. Mazidi; M. H. Abbaspour-Fard; M. H. Aghkhani
Abstract
Automation of tractors due to their widespread use in different sectors e.g. agriculture, construction and industry have been seriously considered by researchers. In this study a tele-steering system for tractor was designed and constructed to controling and steering so the operator can control the tractor ...
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Automation of tractors due to their widespread use in different sectors e.g. agriculture, construction and industry have been seriously considered by researchers. In this study a tele-steering system for tractor was designed and constructed to controling and steering so the operator can control the tractor even far away from the stressful condition of tractor cab, . A CCTV camera and an electric motor were used in order to view the path and to rotate the steering shaft accordingly. Bilateral communication between the control center outside the tractor and control unit on the tractor was provided by a Wireless Local Area Network (WLAN). To evaluate the effect of relevant parameters on system performance camera position, steering shaft rotational speed and tractor ground speed were selected as experimental factors in a completely randomized design. Root mean square of error (RMSE) of lateral deviations and frequency of out of range around the reference route (Nout) were used as criteria in variance analysis. The results for two different ground surfaces with three replications showed that the performance of system had less sensitivity on soil surface and had better stability because of deformable structure and condition of soil compare to asphalt. Steering speed alone had no effect on the accuracy of tractor guidance. This is because the accuracy of the system mainly depends on capability, skillfulness and mental concentration of the operator. The position of the camera installed in front of the tractor had higher accuracy than that of rear camera. Moreover, by increasing ground speed the RMSE of lateral deviations and Nout increased and this is in agreement with the results of previous research works.
