Applicability of the ISO 11783 network in a distributed combined guidance system for agricultural machines

Tractors have developed considerably over recent years. More and more electronics have been added, and nowadays the devices are all able to communicate with one another through a common standardised interface: the ISO 11783 network. The standard defines the roles of devices on the network and provides standard interfaces for the devices to obtain access to the services on other devices. The ISO 11783 standard also provides functions for operating the tractor via remote control. This article discusses the case of a tractor connected to a trailer-type implement, both of which were automated for navigation purposes. The article discusses the requirements for communication architecture to command both the tractor and the implement for guidance. The underlying idea is to handle the guidance system over an ISO 11783 network, which, on the one hand, provides a communication channel, but, on the other hand, also sets limits for information flows. The use of ISO 11783 network in the combined navigation system of a tractor and implement has not previously been reported. The functionality of the proposed navigation system has been tested and proven to work during different test drives. It was found that it is not possible to distribute the controller due to the requirements of the multivariate control problem and the limits of the ISO 11783 network. However, it is possible to transfer all the measurements and controls through the ISO 11783 network. As a result, the article proposes additional messages for the ISO 11783 standard.