Development of a teleoperation system for agricultural vehicles
Development of a teleoperation system for agricultural vehicles
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DOI：
10.1016/j.compag.2008.01.015
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发表时间：
2008-08
影响因子：
8.3
通讯作者：
N. Murakami;A. Ito;J. Will;M. Steffen;K. Inoue;K. Kita;S. Miyaura
中科院分区：
文献类型：
--
作者：
N. Murakami;A. Ito;J. Will;M. Steffen;K. Inoue;K. Kita;S. Miyaura
介绍了一种基于静液压传动（HST）的履带式机器人遥操作系统。该系统的开发，以满足各种农业操作和遥操作在未知的农业领域的需求。该控制器具有分层结构，支持操作员和机器人之间的两个合作度，直接和监督控制。在监控过程中，车辆可以通过使用RTK-GPS和光纤陀螺仪自主行驶，操作员界面还提供了基于Google Map技术的现场导航仪。该飞行器的位置和航向能够利用精确的卫星图像地图以1Hz的频率更新。使用直接控制的现场试验的结果表明，操作者难以控制车辆沿目标线沿着移动。另一方面，通过使用监督控制，车辆可以以0.3m的最大横向误差直线行驶。
A teleoperation system for a hydro-static transmission (HST) drive crawler-type robotic vehicle is described in this paper. The system was developed to satisfy the needs of various farm operations and teleoperation in unknown agricultural fields. The controller has a layered architecture and supports two degrees of cooperation between the operator and robot, direct and supervisory control. The vehicle can travel autonomously by using an RTK-GPS and a fiber-optic gyroscope during supervisory control, and the operator interface also provides a field navigator based on Google Map technology. The vehicle's position and heading direction was capable of 1Hz update using precise satellite image maps. The results of field tests using direct control showed that it is difficult for the operator to control the movement of the vehicle along the target lines. On the other hand, the vehicle could travel in a straight line with a maximum lateral error of 0.3m by using supervisory control.