https://doi.org/10.4081/jae.2021.1144

Study of the steering of a wide span vehicle controlled by a local positioning system

Vol. 52 No. 3 (2021)
Submitted: 8 January 2021
Accepted: 25 May 2021
Published: 30 September 2021
Traffic farming, agricultural wide span vehicle, automatic driving, local positioning systems, accuracy.
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Authors

Volodymyr Bulgakov
Department of Mechanics, Faculty of Construction and Design, National University of Life and Environmental Sciences of Ukraine, Kyiv, Ukraine.
Simone Pascuzzi
simone.pascuzzi@uniba.it
https://orcid.org/0000-0002-6699-3485
Department of Agricultural and Environmental Science, University of Bari Aldo Moro, Bari, Italy.
Semjons Ivanovs
https://orcid.org/0000-0002-9072-1340
Faculty of Engineering, Latvia University of Life Sciences and Technologies, Jelgava, Latvia.
Volodymyr Kuvachov
Tavria State Agrotechnological University, Melitopol, Ukraine.
Yulia Postol
Tavria State Agrotechnological University, Melitopol, Ukraine.
Francesco Santoro
https://orcid.org/0000-0001-9115-8265
Department of Agricultural and Environmental Science, University of Bari Aldo Moro, Bari, Italy.
Viktor Melnyk
Kharkiv Petro Vasylenko National Technical University of Agriculture, Ukraine.

Controlled traffic farming allows to minimize traffic-induced soil compaction by a permanent separation of the crop zone from the traffic lanes used by wide span tractors. The Authors developed an agricultural wide span vehicle equipped with a skid equipment for turning and an automatic driving system prototype based on a laser beam. The aim of this work was to study the kinematic conditions that control the steering of this machine. Furthermore, the accuracy and the maximum delay time of the signal transmission by the automatic driving system of the set-up was also assessed. In comparison with crawler tractors, the turning of the agricultural wide span vehicle needs a smaller difference in the moments applied to its right- and left-side wheels. For the predetermined accuracy of the beam position relative to the plant rows, ±ds = ±0.025 m, the accuracy of the direction of the laser beam at a distance S=200 m should not be more than ±0.07° and ±0.0014°, considering a run length of 1000 m. Furthermore, at a speed V=2.5 m s–1 a trajectory deviation φ≤5° requires a topmost delay time of the control signal of Δtmax=0.11 s is required.

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How to Cite

Bulgakov, V., Pascuzzi, S., Ivanovs, S., Kuvachov, V., Postol, Y., Santoro, F. and Melnyk, V. (2021) “Study of the steering of a wide span vehicle controlled by a local positioning system”, Journal of Agricultural Engineering, 52(3). doi: 10.4081/jae.2021.1144.
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