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- スティアルソ リリック
- 農業機械学会 筑波大学農学研究科
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- 瀧川 具弘
- 農業機械学会 筑波大学農林工学系
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- 小池 正之
- 農業機械学会 筑波大学農林工学系
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- 長谷川 英夫
- 農業機械学会 筑波大学農林工学系
書誌事項
- タイトル別名
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- Trajectory Control for Agricultural Autonomous Vehicles. Part 3. A Field Experiment of the Designed Trajectory Control.
- A Field Experiment of the Designed Trajectory Control
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This study was conducted to verify a developed trajectory control algorithm for an autonomous vehicle. A field experiment was carried out by using a computer-controlled tractor with four-wheel steering and four-wheel drive. The control algorithm was developed under an open-loop condition, with a simple feedback correction for vehicle orientation included in the steering angle calculation to minimize vehicle posture errors when the vehicle is travelling in its predetermined trajectory path. A gyro sensor and rotary encoders attached at the rear wheels were used as a vehicle posture-sensing system to detect the vehicle position and direction, and a dead reckoning method was used. The posture error at the target position obtained the experiments on a concrete surface was stayed within 3cm in position and 3° in orientation angle. While this results validated the proposed control algorithm, when the lateral moving distance was large the method could not work properly due to the limitation of steering angle. Experiments were repeated on grassland and soft-ground surface to clarify the effect of slippage between the vehicle and ground. Though the positional error was 1% or 1cm for all of tested groundsurfaces at the target point of (5m, 1m), it increased to 4% or 8cm particularly on the soft ground surface due to slippage at the target of (5m, 2m). These results indicated that significance the effect of slippage and implied necessity of positional feedback function.
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 62 (6), 125-135, 2000
農業食料工学会
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詳細情報 詳細情報について
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- CRID
- 1390001204314062720
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- NII論文ID
- 10013001128
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- NII書誌ID
- AN00200470
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- ISSN
- 18846025
- 02852543
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- NDL書誌ID
- 5541450
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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