Virtual Design and Simulation of Autonomous Tractor

Abstract

This project presents the design and simulation of an autonomous tractor that can navigate through an agricultural field using Robot Operating System (ROS) and Gazebo. The tractor model is constructed using Fusion 360 and imported into ROS. The tractor uses a LiDAR sensor to perform simultaneous localization and mapping (SLAM) using the GMapping algorithm. The tractor also uses the Dijkstra algorithm and the Dynamic Window Approach (DWA) for global and local path planning, respectively. The tractor’s motion is controlled using a PID controller. The simulation results demonstrate the tractor’s ability to map the environment, locate itself, and avoid obstacles while following a predefined path. The project also discusses the challenges and limitations of the proposed methodology, as well as the scope for future work.