Navigation Using a Laser Range Finder for Autonomous Tractor (Part 1)
Navigation Using a Laser Range Finder for Autonomous Tractor (Part 1)
复制标题
使用自动拖拉机激光测距仪进行导航（第 1 部分）
DOI：
10.11357/jsam1937.68.68
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Qiang Zhang
中科院分区：
文献类型：
--
作者：
T. Ahamed;T. Takigawa;M. Koike;Tsuyoshi Honma;Hideo Hasegawa;Qiang Zhang
接近农具进行搭便车作业是农业自动化的一项重要任务。例如，接近对象需要稳健定位方法。该研究旨在开发一种利用室外激光测距仪(LRF)实现自动拖拉机接近田间机具的定位方法。使用实际尺寸的自主拖拉机测试了基于LRF反射器定位的导航性能。首先，测试了平面反射器LRF定位的精度。平面反射器的定位误差在距LRF 15m以内小于5 cm。其次，进行了自主式拖拉机在混凝土表面和长满草的田野上接近机具的田间试验。田间试验结果表明，无论是在混凝土表面还是在草皮覆盖的地块上，采用单反射面定位方法，自主拖拉机均能在1 cm的最终横向误差和1°的定向误差内接近机具的位置。在双反射面定位方法中，接近机具时，混凝土表面的横向误差为1 cm，草场的横向误差为2 cm，两面的定向误差均小于1°。这些结果证实，使用反射器作为LRF的人工地标进行定位，能够以高精度将车辆导航到工具的位置。[关键词]LRF、最小二乘法、定位、反射器、反射器钻头、轨迹控制、反馈控制
Approaching a farm implement to perform a hitching maneuver is an important task in agricultural automation. Such as, approach to an object requires a robust positioning method. This study aimed to develop a positioning method for an autonomous tractor to approach an implement in the field using an outdoor Laser Range Finder (LRF). Navigation performance based on localization of reflectors by the LRF was examined using an actual-size autonomous tractor. First, the accuracy of LRF positioning using flat reflectors was tested. The positioning errors of the flat reflectors were less than 5 cm up to 15 m distance from the LRF. Second, field experiments were carried out in which the autonomous tractor approached the implement on a concrete surface and a field covered with grasses. The results of the field experiments showed that the autonomous tractor could approach to the implement's position within a final lateral error of 1 cm and directional error of 1°, for the single reflector positioning method, both on the concrete surface and on the field covered with grasses. In the two-reflector positioning method, approaching the implement was done within a lateral error of 1 cm for the concrete surface and 2 cm for the field covered with grasses ; the directional error was less than 1° for both surfaces. These results confirmed that positioning with reflectors as artificial landmarks for an LRF enabled navigation of the vehicle to the implement's position with high accuracy. [Keywords] LRF, least square method, positioning, reflectors, reflector bit, trajectory control, feedback control