抄録
The operation of agricultural field machinery is often considered to be an arduous task performed under difficult conditions. The availability and affordability of advanced technologies has provided sufficient means to allow many repeatable tasks to be performed autonomously within a satisfactory level of precision. An articulated field robot based on a commercially available row crop sprayer vehicle has been developed. Navigation and positioning functions are achieved using a wide-area precision DGPS. Onboard sensors monitor engine, hydraulic, electrical, and control plane parameters. This paper describes the implemented methodology for general path creation and following for an articulated farm vehicle. A robust derivation of 'bang-bang' control signals has been considered. Fundamental maneuvering components have been identified, and are applicable to any movement between configurations of the articulated vehicle. The paper will report the general characteristics of autonomously maneuvering the articulated vehicle, and will demonstrate the highly-practical application of this technology in the agricultural field environment.
本文言語 | 英語 |
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ホスト出版物のタイトル | Automation Technology for Off-road Equipment - Proceedings of the International Conference, ATOE 2004 |
編集者 | Q. Zhang, M. Iida, A. Mizushima |
ページ | 264-273 |
ページ数 | 10 |
出版ステータス | 出版済み - 2004 |
外部発表 | はい |
イベント | International Conference on Automation Technology for Off-road Equipment, ATOE 2004 - Kyoto, 日本 継続期間: 10月 7 2004 → 10月 8 2004 |
その他
その他 | International Conference on Automation Technology for Off-road Equipment, ATOE 2004 |
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国/地域 | 日本 |
City | Kyoto |
Period | 10/7/04 → 10/8/04 |
!!!All Science Journal Classification (ASJC) codes
- 工学(全般)