Map-based Control of Tractors and Implements for Precision Farming

This paper describes the planning system for precision farming. Especially, the system aims to support GPS based autonomous tractor and its actuators. The farm tractor can run precisely in fields according to GPS based navigation. The actuators can be controlled variably according to the precise position in fields. Using the tractor and its actuators, we can realize precision farming according to several conditions in fields. The planning system is developed for storing the field information, navigating the tractor and planning the variable farmwork. In this paper, we describe the functions, especially the path planning of the system. To generate the optimum paths, we formulate the covering problem and apply the approach using genetic algorithm