A Low-Cost Platform for Modeling and Controlling the Yaw Dynamics of an Agricultural Tractor to Gain Autonomy

In this study, a low-cost proposed platform for training dynamics (PPTD) is proposed based on operational amplifiers to understand the dynamics and variables of the agricultural tractor John Deere tractor model 4430 to gain autonomy and analyze the behavior of control algorithms proposed in real time by state feedback. The proposed platform uses commercial sensors and interacts with the Arduino Uno and/or Daq-6009 board from National Instruments. A mobile application (APP) was also developed for real-time monitoring of autonomous control signals, the local reference system, and physical and dynamic variables in the tractor; this platform can be used as a mobile alternative applied to a tractor in physically installed form. In the presented case, the PPTD was mounted on a John Deere tractor to test its behavior; moreover, it may be used on other tractor models similarly as established here. The established results of this platform were compared with models established in MATLAB, validating the proposal. All simulations and developments are shared through a web-link as open-source files so that anyone with basic knowledge of electronics and modeling of vehicles can reproduce the proposed platform.