Modeling and simulation of power tiller for autonomous operation in agricultural fields

This paper details the development of a model for a walking tractor also known as power tiller. A complete model for power tiller is developed considering kinematics, dynamics and engine dynamics for autonomous operation. Inputs to the simulation model are left clutch control signal and right clutch control signal. Data from an Inertial Measurement Unit (IMU) attached to the power tiller enables validation of the model using analogue matching and integral least squares. The result of the validation is that the model is a suitable representation of the power tiller. Developed model is intended to use for development of a controller for the remote and autonomous operation at agricultural fields.