Path Following Control for Head-feeding Combine Robot
Path Following Control for Head-feeding Combine Robot
复制标题
头部送料联合机器人路径跟踪控制
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Ryohei Masuda
中科院分区：
文献类型：
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作者：
R. Uchida;M. Iida;Huaping Zhu;H. Kurita;M. Suguri;Ryohei Masuda
本研究的目的是研究头部供料联合收割机机器人的自主路径跟踪控制，特别是转向控制的改进。导航传感器采用RTK-GPS和GPS罗盘。联合收割机器人从它们那里获取自己的位置和航向角度信息，以沿目标路径直线行走和转弯。卡尔曼fiLter从位置、航向和行驶速度数据中估计横向和航向角度误差，以进行转向控制。在实验中，联合收割机器人沿着螺旋路径收割水稻。然后，对转向控制所需的横向误差、航向角误差和空间大小进行了评估。在直线路径上观测到均方根横向误差小于0.06m，均方根航向角误差小于2.35度。转向控制的平均侧向误差为0.13m，平均航向误差为−2.49°。转弯控制所需的空间大小为4.4m×4.5m，几乎相当于人工操作。
The objective of this research is autonomous path following control for head-feeding combine robot, especially improvement of turning control. An RTK-GPS and a GPS compass are used as navigation sensor. The combine robot obtains its position and heading angle information from them to go straight and turn along target path. Kalman filter estimates lateral and heading angle errors from data of position, heading and traveling speed for steering control. In the experiment, the combine robot followed spiral path harvesting rice. And then, lateral error, heading angle error and the size of space required for the turn control were evaluated. The rms lateral error was observed to be less than 0.06 m and the rms heading angle error was less than 2.35 degree in the straight path. The average lateral and heading error in the turning control were 0.13 m and − 2.49 degree, respectively. The size of space required for the turn control was 4.4 m × 4.5 m. It is almost equivalent to the operation by human.