Abstract
The development of a fuzzy navigation controller for wheeltype agricultural vehicles with mechanism steering system was presented. The fuzzy controller was designed based on heading angle error and cross track error. The incremental PID control method was used for front wheels turning control. Simulation was done based on two wheels vehicle model. Automatic navigation control system was also developed,which was made up of the upper computer and the lower controller part. The upper computer was a flat industrial computer, and the lower controller was developed by ARM7. The experiments were done in the Xiaotangshan National Demonstration Base for Precision Agriculture. The cross track error of line track using this system was less than 0.12m, and the average cross track error was 0.04m.
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