自律走行車両によるコンテナ拾い上げ実験

書誌事項

タイトル別名
  • Preliminary Experiments for Development of Container Picking-up Function for Autonomous Vehicles
  • ジリツ ソウコウ シャリョウ ニ ヨル コンテナ ヒロイアゲ ジッケン

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抄録

A front loader-type handling device having one more degree of freedom than the traditional one was developed. It was confirmed that the handling device could pick up three 20-kg containers placed on the carrying pallet. Picking-up trials of containers placed at 12 different positions were performed. In the trials, the trajectory controller guided a 15.4-kW agricultural autonomous vehicle to a position to handle containers and then the containers on the pallet were lifted up with the handling device. The containers were successfully lifted up by 11 out of 12 positions. As a result of the experiments, the possibility of automatic picking-up operation by using an autonomous vehicle was confirmed. However, the error of guiding increased when the steering speed increased, and picking up of containers failed. Therefore, the guiding accuracy needs to be improved.

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