Design and Implementation of Agricultural Unmanned Vehicle based on Beidou-RTK

In order to effectively improve the efficiency of agricultural production and reduce labor cost,an agricultural unmanned vehicle based on Beidou satellite navigation system is designed and implemented,including the design and implementation of crawler chassis and control system.The unmanned vehicle takes Raspberry Pi,TX2 and STM32 as core controllers.Through STM32 and TX2 collect the position and status data of unmanned vehicle,and upload them to Raspberry pi for comprehensive analysis and decision-making.According to the longitude and latitude information of unmanned vehicles,it can plan the tracking and teaching path for non-standardized orchards.,and plan the standard path for standardized orchards.Using distance and angle offset,the direction is adjusted adaptively to make the unmanned vehicle return to the planned path.Experiments show that the agricultural unmanned vehicle has good speed performance and steering performance,and is convenient for precise control,which plays a positive role in promoting the popularization and application of unmanned agricultural machinery and improving the level of automation and intelligence of agricultural machinery.