自律走行車両のための作業機走行軌跡制御　（第３報）

DOI Web Site 被引用文献1件 参考文献16件

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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.

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