Trajectory control and its application to approach a target: Part II. Target approach experiments
Trajectory control and its application to approach a target: Part II. Target approach experiments
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轨迹控制及其接近目标的应用：第二部分。
DOI：
10.13031/2013.9928
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发表时间：
2002
影响因子：
1.5
通讯作者：
H. Hasegawa
中科院分区：
文献类型：
--
作者：
L. Sutiarso;Hidehito Kurosaki;Tomihisa Takigawa;M. Koike;O. Yukumoto;H. Hasegawa
提出了一种利用简单的激光传感器进行定位的方法，并将其用于目标导航。激光传感器扫描现有的反射器，并使用三角测量方法测量它们的方向和位置。标定后，测距精度在10 cm左右。还开发了一种控制系统，该控制系统可使自动驾驶车辆跟随人力操作的拖拉机。有关激光传感器应用的实验证实，实验性自动拖拉机可以跟随领先的人力操作拖拉机而不会发生碰撞。然而，自动驾驶拖拉机往往会因为反馈而走捷径。使用配备有撒播肥料分配器的自主车辆进行自动肥料再填充实验。采用激光定位方法对肥料供应商进行定位。现场实验结果表明，本文提出的轨迹控制算法能够以令人满意的精度引导车辆进行补给。导致导航误差的主要因素是前轮转向角的限制。
A positioning method using a simple laser sensor was developed and employed for navigation to a target. The laser sensor scans existing reflectors and measures their directions and positions using a triangulation method. After calibration, the accuracy of distance measurement was around 10 cm. A control system that steers an autonomous vehicle following a human-operated tractor was also developed. Experiments regarding the application of the laser sensor confirmed that an experimental autonomous tractor could follow a leading human-operated tractor without collision. However, the autonomous tractor tended to take shortcuts due to feedback. Automatic fertilizer refilling experiments were conducted using an autonomous vehicle equipped with a broadcast fertilizer distributor. The laser positioning method was used to locate the fertilizer supplier. Results of the field experiment showed that the trajectory control algorithm proposed in Part I could guide the vehicle with satisfactory accuracy for refilling. The main factor contributing to navigation error was the limit of the steering angle of the front wheels.