Agricultural Tractor

R2026b

Agricultural tractor in the Offroad Vehicle Library

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Add-On Required: This feature requires the Robotics System Toolbox Offroad Autonomy Library add-on.

Agricultural tractor with front-wheel steering, designed for farming applications. The tractor has four wheels on two axles. Unlike the other vehicles in the library, the agricultural tractor has different front and rear wheel sizes, with smaller front wheels and larger rear wheels.

Description

The agricultural tractor is a compact, highly maneuverable vehicle with a tight turning radius, suited for navigating between crop rows and in confined agricultural spaces.

Load it programmatically with loadvehicle("agriculturaltractor") or add it to a Simulink® model with the Simulation 3D Agricultural Tractor block to simulate in an Unreal Engine® scene.

MATLAB (rigidBodyTree)Simulation 3D (Unreal Engine)

Agricultural tractor rigid body tree model shown with visual meshes.

Agricultural tractor in Unreal Engine simulation environment.

Dimensions

These illustrations provide insight into the dimensions and locations of the agricultural tractor asset parameters relative to the coordinate axes, following the [yaw(z), pitch(y), roll(x)] sequence. The vehicle layout uses the Unreal Engine coordinate system, which follows the left-hand rule world coordinate system.

The vehicleData structure returned by loadvehicle includes separate FrontWheelRadius and RearWheelRadius fields for this vehicle (the generic WheelRadius field is not present). It also includes separate FrontTrackWidth and RearTrackWidth fields instead of a single TrackWidth value, since the front and rear tracks differ.

The rigidBodyTree model includes measurement frames such as front_axle_center and rear_axle_center. Use getTransform to obtain axle positions and distances programmatically.

The agricultural tractor model includes body inertia data. You can use dynamics functions such as gravityTorque and massMatrix with this vehicle.

Examples

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This example uses:

Open Live Script

Load the agricultural tractor vehicle model and its associated data.

[tractor,tractorData] = loadvehicle("agriculturaltractor");
disp(tractorData)
         VehicleName: "Tractor"
             Version: 1
           WheelBase: 2.5504
     FrontTrackWidth: 1.8452
      RearTrackWidth: 2.1579
    FrontWheelRadius: 0.6236
     RearWheelRadius: 0.8190
    MinTurningRadius: 2.1400
     MaxForwardSpeed: 11.1000
     MaxReverseSpeed: 4.2000
         MotionModel: [1×1 bicycleKinematics]

Visualize the visual and collision meshes of the agricultural tractor.

tiledlayout(1,2,TileSpacing="compact",Padding="compact")
sgtitle("Agricultural Tractor Vehicle Model")
nexttile
show(tractor);
title("Visual Meshes")
axis auto
nexttile
show(tractor,Collisions="on",Visuals="off");
title("Collision Meshes")
axis auto

Figure contains 2 axes objects. Axes object 1 with title Collision Meshes, xlabel X, ylabel Y contains 119 objects of type patch, line. Axes object 2 with title Visual Meshes, xlabel X, ylabel Y contains 50 objects of type patch, line.

See Also

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