畝間移動ロボットに関する基礎的研究 : 第3報,傾斜角情報を用いた三次元地形における経路追従ロボットシステムと移動実験(機械力学,計測,自動制御)

概要

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In this paper, we describe a robot system which can track a given path on a 3D terrain using the inclination of the robot in real time. We designed a model of 3D terrain between two ridges based on some measured shape, and made a desired path on the lowest portion of the field furrow. We newly designed a mobile robot system which can track the path using the a method proposed in the second report. The path tracking control of this robot system is carried out using a rolling angle and change of a rolling angle of the robot. The rolling angle is measured using an inclination sensor installed on the robot when pitching angle is controlled at zero. The pitching angle control is carried out by controlling a linear actuator installed in the robot. Path tracking by the newly designed robot system was shown together with some experimental results.
社団法人日本機械学会の論文
1997-04-25