Application of Autopilot Guidance Systems for Agricultural Vehicles

• Main Authors: Chen Bor-Chy, 陳伯騏
• Other Authors: Chang, Sen-Fuh
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/92422818502954293111

碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 91 === Abstract It is intended to investigate the performance of the Autopilot ComNav 1001 installed on a simulator by conducting experiment and analysis in this study. Then, the application of the Autopilot on agricultural vehicles is evaluated and checked whether it is feasible or not for making the vehicles with autoguidance functions. The simulator is the main hardware in this study. It is made of the Autopilot, steering mechanism, brushless motor, and GPS receiver. Using suitable software, the position data is downloaded from GPS receivers to computers and transferred for analysis, making charts and superimposition. The experiment is divided into two categories as: 1. linear guidance and 2. waypoint guidance by satellite. In order to get better results for linear guidance, the four parameters “rud”, ”ctr”, ”yau”, and “trn” of the Pilot model for Autopilot must be properly selected. The GPS receiver is only for receiving satellite signals and saving these data. In the experiment of waypoint guidance by satellite, five waypoints must be chosen first for one GPS receiver which is used for guidance and making the simulator head to waypoints. Another GPS receiver is needed for records. From the results obtained in the linear guidance experiment, it is concluded that the four parameters “rud”, ”ctr”, ”yau”, and “trn”, (2,2,2,7), is pretty good with an average of shift distance, 1.247 m. And from the result in the experiment of waypoint guidance by satellite, it is concluded that the first route, from waypoint A to waypoint B, is also pretty good with an average of shift distance, 1.188 m. Keywords: autopilot、simulator、GPS receiver