Development of Tilling Robot and Operation Software

Abstract

A tilling robot was developed to be able to recognize its own position and heading in the field,while performing an unmanned tilling as well as a manual operation. The tilling robot wascomposed of the robotized vehicle ROBOTRA based on a commercial tractor, the navigationsystem XNAV based on a surveying system and the control system composed of a commercialfactory computer and an original vehicle controller. The basic operation software for the robotwas developed to execute a tilling operation in a conventional manner. Operation software forexecuting various agricultural works such as seeding and soil paddling were also developed bymodifying the basic operation software. By the result of unmanned operation tests, the workefficiency was almost equal to that of conventional manual operation. As to the work accuracyin returning operation, the robot was superior to a skilled operator.