Development of Small Automatic Guided Vehicle for the Horticultural Field greenhouses smaller than 5,000 m 2. Similarly, a small agricultural vehicle with tire guidance is also preferred in small vegetable fields and in small orchards. Therefore, there is a demand for the development of an automatic guided vehicle. Many researches on the autonomous guidance system of a tractor tire system have been conducted for rice production (Yukumoto et al. 1998). A few tire system autonomous vehicles were developed for horticultural fields. It was proved that an autonomous tractor with a differential GPS cannot be used in a greenhouse (Bell 2000). An autonomous vehicle using RTK-GPS (Barawid 2010) was developed for an orchard. However, RTK-GPS cannot be used inside a greenhouse. To be suitable for a small-scale cultivator, an autonomous vehicle system for a greenhouse and a small open horticultural field should
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