Development of follow travel controller of forwarder(<SPECIAL ISSUE>Renovative movements on mechanized forestry)

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  • 運材車両の追従走行制御装置の開発(<特集>新たな機械化)
  • 運材車両の追従走行制御装置の開発
  • ウンザイ シャリョウ ノ ツイジュウ ソウコウ セイギョ ソウチ ノ カイハツ

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Abstract

In the transporting method in which a strip road is used by a forwarder, the operational efficiency decreases as the strip road length increases. To solve this problem, we designed a method for driving two or more vehicles alone. At the present time, an operator drives the lead vehicle, and the following vehicles are driven automatically. In this report, we experimented with a vehicle equipped with prototype sensors, and examined the factors that influenced the control. The control of following vehicles was made possible by attaching two ultrasonic wave speakers to the back of the lead vehicle and two ultrasonic wave mikes to the front of the following vehicle. When traveling around a curve, the following vehicle went too far inside when the distance between the lead vehicle and following vehicle was set too high. However, if the distance between the two vehicles was set too low, as the travel speed increased, the follow control became unstable. Thus, setting the proper distance between two vehicles was important. It is possible to travel strip roads that are only about 1.4 times the width of the vehicle if they are straight line. However, it is necessary to widen curved parts up to 1.6 times.

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