Autonomous Parallel Travelling of a Robot Tractor for Automatic Harvesting and Unloading of an Onion Harvester

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  • Onoyama Hiroyuki
    Research Organization of Science and Technology, Ritsumeikan University
  • Sugaya Shuto
    Graduate School of Science and Engineering, Ritsumeikan University
  • Aoyama Hiroya
    Graduate School of Science and Engineering, Ritsumeikan University
  • Fujita Daichi
    Research Organization of Science and Technology, Ritsumeikan University
  • Fukao Takanori
    Graduate School of Information Science and Technology, The University of Tokyo
  • Murakami Noriyuki
    NARO Hokkaido Agricultural Research Center Memuro Upland Farming Research Division

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  • タマネギ収穫機の自動収穫・収納のためのトラクタの自動並走
  • タマネギ シュウカクキ ノ ジドウ シュウカク ・ シュウノウ ノ タメ ノ トラクタ ノ ジドウ ヘイソウ

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Abstract

<p>This paper proposes an autonomous parallel travelling system for an onion harvester and a tractor. Path following control via sliding mode control is applied to each vehicle. The velocity of the tractor is also controlled using the velocity and position of the onion harvester to maintain their relative position. As the result of experiments, the lateral, longitudinal and orientation errors between the tractor and the onion harvester were less than 0.07 m, 0.11 m and 2◦, respectively. It was sufficient for the actual onion harvesting.</p>

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