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Topic: Steering a combine via GPS (Read 12 times) previous topic - next topic

mx270a

Oct 02, 2009, 03:09 am Last Edit: Sep 05, 2011, 06:02 pm by mx270a Reason: 1
I'm an arduino noob, and this is my first project using an arduino. I'm using it to read inertial data and control a hydraulic valve, which is used to steer a combine. The machine is a Case IH 2588, which is 285 HP, and weighs about 30,000 lbs. I have a Windows 7 computer in the cab to process the GPS data and calculate steering angles, and the arduino is my IO card. I eventually plan to offload all of the steering calculations to the arduino.

The system uses GPS data, an inclinometer (measures tilt), and a yaw sensor. We want the machine to travel back and fourth across a field in parallel passes. The computer will keep the machine driving straight, within about 3 inches of the desired path. The distance from the path is called cross track error, and I'm seeing an average cross track error of under 1.5 inches.

We are harvesting soybeans in Iowa, traveling 4 to 5 MPH.




More Pictures:
http://lefebure.com/farming/2009/september/

Video:
http://www.youtube.com/watch?v=LDzHwy28kng

-Lance

Jeremy D Pavleck

Thats and awesome project! Lots of great shots too - good job man!

pluggy

I love it, anybody who can see past LEDs and servos with an arduino deserves encouragement.  Bravo.  :)

BenF

Impressive project!

I've done a marine autopilot based on Arduino (using GPS, Gyro and Compass for course keeping) and it would be interesting to know how you achieve an average cross track error of less than 2 inches?

bill2009

I'm way impressed but I have to ask - what's the failsafe?

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