Authors
Ryosuke Takai, Oscar Barawid Jr, Noboru Noguchi
Publication date
2011/1/1
Journal
IFAC Proceedings Volumes
Volume
44
Issue
1
Pages
14165-14169
Publisher
Elsevier
Description
The objective of this research was to modify a commercial crawler-type tractor into a robot tractor that can be navigated autonomously by using RTK-GPS and IMU as navigation sensors. Navigation algorithms were developed. Steering control test and autonomous navigation test in farmland were conducted. Steering control test was conducted in different speeds, and the accuracy was evaluated. In each speed, the robot ran with 1~3cm lateral error. Autonomous navigation test was conducted on multi-path map. In headland area, the robot used keyhole turning and transferred to the next path. The robot could finish the multipath navigation successfully.
Total citations
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Scholar articles
R Takai, O Barawid Jr, N Noguchi - IFAC Proceedings Volumes, 2011