Development and Implementation of Tracked Unmanned Agricultural Machinery for Hilly and Mountainous Areas

The development level of agricultural automation in hilly and mountainous areas has always been lower than that in plain areas, mainly due to the complex terrain, lack of concentrated arable land, narrow roads and high labor costs. Common unmanned agricultural machinery such as tractors, harvesters and transport trucks are often designed for plain terrain, making it difficult to adapt to hilly and mountainous terrain, resulting in low operational efficiency and high costs. Therefore, this paper aims to develop an unmanned agricultural machinery with a tracked chassis, which has the advantages of small size, good passability, strong grip ability, low center of gravity and certain load-bearing capacity. Through structural transformation, it realizes functions such as load transportation, pesticide spraying and rotary tillage operations. At the same time, it uses a combined navigation system and a pure point tracking algorithm based on adaptive dynamic preview distance to achieve map measurement and path tracking. The experiment tested the path tracking performance of several different routes, including straight lines, right angle S-bends and 8-shaped routes at different speeds. The results showed that the maximum lateral error was 13cm.