書誌事項
- タイトル別名
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- Laser Scanner-Based Obstacle Detection System for Autonomous Tractor-Movement and Shape Detection Targeting at agricultural vehicle-
- レーザスキャナ オ モチイタ ロボットトラクタ ノ タメ ノ ショウガイブツ ニンシキ システム トラクタ オ タイショウ ト シタ イドウタイ ノ ウンドウ ケイジョウ ニンシキ
- Movement and Shape Detection Targeting at agricultural vehicle
- トラクタを対象とした移動体の運動・形状認識
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抄録
Detecting obstacles invading the region in front of a tractor, and creating an obstacle avoidance behavior are needed as a safety device for an autonomous tractor. This paper presents an obstacle detection system based on a laser scanner. The algorithm utilized a template matching for reconstructing a shape of a target obstacle and for detecting its movement. An extended Kalman filter worked for enhancing an obstacle detection accuracy. Field tests were conducted to evaluate the developed system. The results indicated that the system was capable of estimate a position, a speed, and a heading angle of an obstacle with 2.7cm, 0.13m/s, 1.4° error, respectively.
収録刊行物
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- 農業機械学会誌
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農業機械学会誌 66 (2), 97-104, 2004
農業食料工学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001204312053760
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- NII論文ID
- 10012719255
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- NII書誌ID
- AN00200470
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- ISSN
- 18846025
- 02852543
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- NDL書誌ID
- 6876855
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可