Desarrollo de un sistema de navegación autónoma para un vehículo eléctrico tipo rover, para aplicaciones de agricultura de precisión
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Agriculture is the main economic activity of the department of Tolima and with the use of technologies it is possible to increase productivity, reduce costs and improve the competitiveness of this sector, therefore in this degree work an autonomous navigation system is developed for a land vehicle type Skid-Steering for use in agricultural applications, with the aim of having a technological tool with the ability to track specific trajectories and thus be able to automate tasks such as plowing, planting seeds, fertilize, taking samples located among others . The system implements an extended Kalman filter that integrates sensors to have a reliable geolocation, a trajectory tracking control was designed based on the dynamic model obtained with the identification of linear systems and system monitoring is performed based on telemetry. Presented satisfactory results with errors less than one meter.