Dynamic evaluation of three GPS receivers on the control performance of an autonomous vehicle developed with pure pursuit system architecture
Faircloth, Adam Gerald
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As population growth puts demands on increased food production and farmers are experiencing smaller profit margins, new crop production management practices are being explored. Precision farming and genetically modified crops are examples of new technologies being developed to help improve crop production. Two of the technologies currently in use are global positioning systems (GPS) and automatic guidance. The purpose of this study was to develop an autonomously driven tractor controlled through the use of GPS information. In addition three GPS systems of varying accuracy and cost were used and compared. The control approach used was a pure pursuit or goal seeking method. The control structure proved to work effectively. The best performing GPS system was the Trimble RTK-GPS system. An OmniSTAR-HP receiver and a WAAS receiver were also used in this study.