畝間移動ロボットに関する基礎的研究 : 第2報, 傾斜角情報を用いた三次元地形における経路追従方法

概要

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We describe a method of path tracking on 3D terrain using information of inclination of a robot. We modelled 3D terrain between two ridges based on measured shapes, and we made a winding desired path on the lowest portion of the field furrow. We have proposed a new method in which the rolling angle of the robot and its variation are used to track the desired path in real time. In this method, information of the desired path can be given to the robot as the rolling angle and its variation, and the robot can recognize deviations in its position and direction using rolling angle and its variation. Furthermore, the robot is controlled using a newly proposed algorithm in which path tracking is carried out using rolling angle. Finally, the newly proposed path tracking method is successfully simulated on a computer.
社団法人日本機械学会の論文
1997-02-25