Straight Line Follower Application in Remote Areas Using Low Cost Local Positioning System

Abstract

A machine operation in a straight line is important for multiple reasons. It is important to maintain uniform spacing, avoid overlaps, increase in operational efficiency, reduce machine passes in the field along with the easy operation of the machines. Also, in precise farming every inch of land is important, if we avoid following straight line then we might waste significant amount of land and in turn the productivity. Hence to achieve precise straight line, GPS systems are used but GPS systems that get to the inch level accuracy are expensive and not everyone can afford them. Also, in remote areas GPS systems do not work as expected. Thus, we need cost-effective, highly precise straight-line following local positioning system. The system plans to deploy localized or in field nodes in a precise straight line by one of the edges of the field. These transmitter nodes are smart nodes which know their position coordinates in the field and can communicate with the machine. A Machine will be fitted with a receiver tuned to receive the position coordinates from the field boundary sensors the system will be knowing or deriving the vehicle dimensions and time of flight for the communication message from a node on the field periphery to the vehicle. Based on the gathered information our system can construct a first straight line (reference line). Once the first straight line is formed the consecutive straight lines can be determined by maintaining consistent steering angle sensor and solving Geometrical expressions. The intent is to provide guidance to the operator to keep the machine in a straight line. The operator will always be in the closed loop.