Developing a Motion Controller for Autonomous Agricultural Robot

GÖLBOL F., Olmez H., Hacinecipoglu A., ANKARALI M. M.

28th Signal Processing and Communications Applications Conference (SIU), ELECTR NETWORK, 5 - 07 October 2020 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu49456.2020.9302236
  • Keywords: autonomous, agriculture, tractor, guidance pattern, maps
  • Middle East Technical University Affiliated: Yes


The advantages of autonomous agriculture over traditional agriculture have been reported both in national and international literature. Motion and trajectory planning is one of the fundamental problems an agricultural robot has to solve. Several trajectory guidance patterns have been developed in the literature. In this work, a visual trajectory planning interface based on Google maps is designed, and A+ pattern is implemented on it. The position of the vehicle obtained via GPS is shown on the interface in real time.