Navigation Using a Laser Range Finder for Autonomous Tractor (Part 2)-Navigation for Approach Composed of Multiple Paths-

DOI Web Site 1 Citations 9 References
  • AHAMED Tofael
    The Japanese Society of Agricultural Machinery Graduate School of Life and Environmental Sciences, University of Tsukuba
  • TAKIGAWA Tomohiro
    The Japanese Society of Agricultural Machinery Graduate School of Life and Environmental Sciences, University of Tsukuba
  • KOIKE Masayuki
    The Japanese Society of Agricultural Machinery Graduate School of Life and Environmental Sciences, University of Tsukuba
  • HONMA Tsuyoshi
    The Japanese Society of Agricultural Machinery Agriculture and Forest Research Center, University of Tsukuba
  • HASEGAWA Hideo
    The Japanese Society of Agricultural Machinery Graduate School of Life and Environmental Sciences, University of Tsukuba
  • ZHANG Qiang
    The Japanese Society of Agricultural Machinery Graduate School of Life and Environmental Sciences, University of Tsukuba

Bibliographic Information

Other Title
  • 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)
  • Navigation for Approach Composed of Multiple Paths

Search this article

Abstract

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°.

Journal

Citations (1)*help

See more

References(9)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top