Path-Following Control of a Head-Feeding Combine Robot

• IIDA Michihisa

  Kyoto University

• UCHIDA Ryo

  Kyoto University

• ZHU Huaping

  Kyoto University

• SUGURI Masahiko

  Kyoto University

• KURITA Hiroki

  Kyoto University

• MASUDA Ryohei

  Kyoto University

抄録

The study aims to apply an autonomous path-following control for a head-feeding combine robot. A real-time kinematic global positioning system (RTK-GPS) and a GPS compass are used as navigation sensors. These sensors provide the combine robot with the position and heading information required to steer along a target path. To control steering, we applied a Kalman filter that estimates the lateral and heading errors contained in the position, heading, and traveling-speed data. Through field experiments, we demonstrated that the combine robot is capable of automatically following a target spiral path and harvesting rice crops.

収録刊行物

• Engineering in Agriculture, Environment and Food

  Engineering in Agriculture, Environment and Food 6 (2), 61-67, 2013

  Asian Agricultural and Biological Engineering Association

キーワード

• agricultural robot
• autonomous robot
• rice harvesting
• global positioning system
• Kalman filter

詳細情報

• CRID: 1390282680250487808
• NII論文ID: 130003368110
• DOI: 10.11165/eaef.6.61
• ISSN: 18818366
• 本文言語コード: en
• データソース種別:
  • JaLC
  • CiNii Articles
  • KAKEN
  • Crossref
• 抄録ライセンスフラグ: 使用不可