2A1-B17 ロボット車両を利用したフィールド空間の情報化に関する研究

• 姜 太煥

  北大

• 白水 和広

  北大

• 石井 一暢

  北大

• 野口 伸

  北大

書誌事項

タイトル別名

• 2A1-B17 Acquisition of Field Information Using a Robot Tractor

抄録

The objective of this research is to develop a field irregularity modifying system using work chracteristics of harvesting and generating GIS maps based on measured terrain information. To generate a GIS map based on the work chracteristics of harvesting and terrain information, vehicle location is essential; therefore a Real Time Kinematical Global Positioning System (RTK-GPS) provided vehicle positions, and an Inertial Measurement Unit (IMU) provided direction and inclination angles, and a laser scanner provided terrain information of the field. The system was built on a robot tractor and commercial tractor. The result shown an average error of 5.2 cm and an RMS error of 2.9 cm when the laser was scanning beneath the robot tractor, which is sufficient for terrain surveying. The area where working characteristics is bad can be distinguished by the discriminant analysis using explanation variable of synthetic vector and inclination angle.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2006 (0), _2A1-B17_1-_2A1-B17_4, 2006

  一般社団法人 日本機械学会

キーワード

• robot tractor
• laser scanner
• IMU
• RTK-GPS
• GIS

詳細情報

• CRID: 1390282680910577408
• NII論文ID: 110008693962
• DOI: 10.1299/jsmermd.2006._2a1-b17_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2006/0/2006__2A1-B17_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可