Semi-automatic coupling of an agricultural tractor and a trailer

V. Matikainen, J. Backman, A. Visala
2014 IFAC Proceedings Volumes  
In this research a system assisting the operator of an agricultural tractor in coupling a trailer was developed. The system utilized knowledge of the dimensions of the trailer, width and drawbar length, in calculating the towing eyelet location from laser range finder measurements using iterative end-point fit. The tractors speed and curvature are then automatically controlled to align the draw hook with the towing eyelet. Curvature is controlled using pure pursuit algorithm and speed with
more » ... predictor and P-controller. In final field tests the system provided 10 successful connections out of 10 attempts. Further research is required to make the system more general and robust to environmental anomalies. Overall performance was satisfactory.
doi:10.3182/20140824-6-za-1003.00437 fatcat:pumnt5ekk5hzbomv4xupgpauia