Development of Tilling Robot using Position Sensing System and Geomagnetic Direction Sensor. (Part 3). Improvement in Performance of 90.DEG. Turn and Sideways Movement.

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Other Title
  • 耕うんロボットシステムの開発　（第３報）　　位置認識システムと地磁気方位センサを併用した無人作業における９０°旋回・幅寄せ制御の高精度化
  • コウウンロボットシステム ノ カイハツ ダイ3ポウ イチ ニンシキ システム
  • Improvement in Performance of 90°Turn and Sideways Movement
  • 位置認識システムと地磁気方位センサを併用した無人作業における90°旋回・幅寄せ制御の高精度化

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Abstract

In order to improve a performance of the tilling robot, control methods of a 90°turn and a sideways movement were developed. The controller of the 90°turn has an ability that is able to learn a turn radius during operation so as to compensate a fluctuation of a turn radius which is caused by changing the moisture content and the soil type of the field surface. On the other hand, in order to move the robot sideways effectively and to guide the robot to the target path precisely, the controller of the sideways movement was contrived to judge the necessity of the forward movement by evaluating difficulty of the robot control as a quantity.

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