Abstract

This paper is focused on the development of a control system for an autonomous farming vehicle, which can reduce human effort in farming significantly. The system can operate in semiautonomous mode and autonomous mode. It is capable of driving the vehicle using in-vehicle switches in semiautonomous mode. Geometry-based path tracking, proportional controller based speed control, Proportional Integral Derivative (PID) controller based steering control, positional error based speed rectification, and path positional error prediction are used in autonomous mode.

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