Abstract
Rural labor force has been gradually decreased due to decreasing of farm population and increasing of aging population. Therefore, the study of unmanned technology is needed to overcome labor shortage in agriculture. These days most research on unmanned autonomous tractors has been carried out through field tests; however, field tests require lots of cost and time. Therefore, in this study, a simulation platform model was developed for the driving performance evaluation of unmanned tractors. Simulation was conducted by using analysis tools which used widely in the testing of unmanned vehicle simulation and vehicle dynamic behavior. Tractor model used in the simulation was a 71 kW-class (L7040, LS Mtron, Korea). Simulation was conducted to evaluate autonomous driving performance based on driving paths and field conditions. The results of the simulation showed that larger values in the error of tire force, tire kinematics, and slip were observed at the curved path than at the straight path. In the future study, it is determined that need for a method for reducing a positioning error through control algorithm developed at the curved paths.
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