Autonomous System of Heavy Vehicle Using CAN Networking

The goal of the research was evaluating the potential of making an already running device in the field and giving it an autonomous capability using a Control Area Network (CAN) which was being used to communicate with different control devices (slave) which are used to control the gear, brakes, steering, etc. and the back side implementation of the system. These all systems were controlled by a master node device which is handling the tasks that need to be sent to other slaves in the system. And also responsible for safety handling of the vehicle. Master Board was getting command through the Robot Operating System (ROS) for different control parameters. The testing also demonstrates that controlling a large agricultural vehicle (Tractor) was possible to have autonomous capability and to do the field work even if the vehicle runs a conventional style of engine control using an IC engine.