Path-Following Control of a Head-Feeding Combine Robot

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概要

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• The study aims to apply an autonomous path-following control for a head-feeding combine robot. A real-time kinematic global positioning system (RTK-GPS) and a GPS compass are used as navigation sensors. These sensors provide the combine robot with the position and heading information required to steer along a target path. To control steering, we applied a Kalman filter that estimates the lateral and heading errors contained in the position, heading, and traveling-speed data. Through field experiments, we demonstrated that the combine robot is capable of automatically following a target spiral path and harvesting rice crops.

著者

• KURITA Hiroki

  Kyoto University

• IIDA Michihisa

  Kyoto University

• UCHIDA Ryo

  Kyoto University

• ZHU Huaping

  Kyoto University

• SUGURI Masahiko

  Kyoto University

• MASUDA Ryohei

  Kyoto University

関連論文

• Path-Following Control of a Head-Feeding Combine Robot

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