2-D Localization of Autonomous Farm Vehicle Using Laser Distance Sensor

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  • TATSUNO Junya
    The Japanese Society of Agricultural Machinery Faculty of Regional Environment Science, Tokyo University of Agriculture
  • TAJIMA Kiyoshi
    The Japanese Society of Agricultural Machinery Faculty of Regional Environment Science, Tokyo University of Agriculture
  • TERADA Yutaka
    The Japanese Society of Agricultural Machinery Graduate School of Agriculture, Tokyo University of Agriculture
  • ISHII Tadashi
    Jisedaitech L.P.
  • KATO Masayoshi
    The Japanese Society of Agricultural Machinery Faculty of Agriculture, Tokyo University of Agriculture
  • TAMAKI Koji
    The Japanese Society of Agricultural Machinery Faculty of Regional Environment Science, Tokyo University of Agriculture

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Other Title
  • レーザ距離計を用いた圃場内自動作業車両の２次元位置計測
  • レーザ キョリケイ オ モチイタ ホジョウ ナイ ジドウ サギョウ シャリョウ ノ 2ジゲン イチ ケイソク

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we have developed a solar electric farming robot. In this system, various functions such as materials conveyance, power supply and positioning are distributed between a delivery vehicle and a working vehicle. This paper presents an affordable and high-precision 2-D localization method for positioning of the working vehicle. Particularly, we report the development of 2-D localization using a single laser distance sensor, and the results of vehicle navigation experiments, in which the vehicle repeated stop-and-go driving, stopping every 1m to a distance of 20m. The calculated RMS localization error in stopping was found to be about 6 mm in the traveling direction and about 12mm in the transverse direction.

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