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- 저자 : ( Keisuke Toyama ) (검색결과 1 건)
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Development on the Autonomous Mowing Robot for Orchard
( Keisuke Toyama ),( Kenta Hatiya ),( Shoji Koide ),( Takahiro Orikasa ),( Hiroshi Shono ),( Jun-ichi Takeda ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1
In autonomous vehicle of agricultural machinery, it is popular to use GNSS to estimate the current position, but it is often difficult to use GNSS in the orchard field due to multipath etc. Particularly, in weeding work, it is needed to mow near the trunk of trees, and position identification methods other than GNSS are necessary. Therefore, in this study, we aimed to develop autonomous mowing robot which autonomously runs by identifying the tree position of tree by laser scanner. A riding rotary mower was used as a test machine. A laser scanner, a DC motor for steering, and a PC for control are installed on the vehicle. The target steering angle for vehicle control was calculated from the tree position obtained from the laser scanner by calculating the target trajectory and using the forward fixed point model. Also in order to mow the weeds between the tree rows, it is necessary to travel several times, so we used the route created from the known tree row width and vehicle mowing width. The pseudo-trees were used in the field test. As a tested result, RMS value was about 25 mm in case of strait running control, which was sufficient accuracy in actual work.
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