レーザ・レンジ・ファインダを用いた農業用自律トラクタの走行制御 (第2報)

DOI Web Site 被引用文献1件 参考文献9件

書誌事項

タイトル別名
  • Navigation Using a Laser Range Finder for Autonomous Tractor (Part 2)-Navigation for Approach Composed of Multiple Paths-
  • Navigation for Approach Composed of Multiple Paths

この論文をさがす

抄録

The experiment conducted in this paper combined dead reckoning and Laser Range Finder (LRF) applications in approaching a target with forward and backward movements of an autonomous tractor. In Part 1, an LRF positioning principle using reflectors for a tractor's backward movement toward an implement was discussed. This paper deals with the switching of sensors and navigation following a course composed of multiple segmented paths. Feasible segments were designed on either polar coordinates or Cartesian coordinates. While path design by Cartesian coordinates enabled such steering as parallel parking, polar coordinate-based design enabled movements attended with turns of greater than 90°. It was confirmed by experiments that an autonomous tractor could track a multiple-segment path. Experimental results during two-segment navigation (Cartesian to Cartesian) showed that the final lateral error was 2cm and directional error was 1° at the goal position. Two-segment navigation (Polar to Cartesian) for parking a tractor in a yard showed a final lateral error of 1cm and directional error of 1°.

収録刊行物

被引用文献 (1)*注記

もっと見る

参考文献 (9)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ