Development of autonomous vehicles equipped with handling devises

日本农林面临接班人不足、劳动力老龄化和女性劳动力增加、成本进一步降低、对安全高质量产品的需求以及环保生产等诸多问题。在这种情况下，机器人拖拉机的开发研究在近二十年来一直受到人们的关注。为此，研究的目标主要是通过引入自动驾驶汽车来实现野外作业的自动化。但是，自动驾驶汽车的操作能力是需要的，因为它可以帮助生活在老龄化农村社区的人们。同时，自动搬运需要对被搬运对象进行精确定位，并进行轨迹控制以准确接近被搬运对象。这项研究是基于这一考虑进行的。实验结果如下：1。在之前的报道中，将反馈项引入轨迹控制器，显著提高了轨迹控制器的路径跟踪能力。该控制算法在极坐标下的扩展成为可能。研制了自动补肥系统。开发了自动驾驶车辆牵引拖车控制器的运动轨迹，并进行了计算机仿真测试。研制了一种激光系统来测量被搬运物体的姿态。一种引导系统，使自动车辆能够跟随人类操作的拖拉机。为了精确搬运重物，制造了一种由计算机控制的三自由度前置装载机。为研究自动驾驶汽车，开发了一个面向对象的三维动画仿真系统。

Japanese agriculture and forestry are facing many problems, which include shortage of successors, aging of labor and increase of female labors, further cost reduction, demands for safe and high quality products and environmentally conscious production. Under the condition, research for the development of robotic tractors has been drawn attentions for these twenty years. For this purpose the target of the research is mainly placed on the automation of filed operations by introduction of autonomous vehicles. However handling ability is required as the function of autonomous vehicles to help people who are living in aging rural community. At the same time, automatic handling requires precise positioning of an object to be handled, and trajectory control to approach the object accurately. This study has been conducted based on this consideration. As a result, following results was obtained.1. Introduction of feedback term into trajectory controller reported previously improved its path-tracking ability significantly. Extension of this control algorithm in the polar coordinates enabled.2. System for automatic fertilizer refill was developed.3. Trajectory for controller for a trailer towed by an autonomous vehicle was developed and tested by computer simulation.4. A laser system was developed to measure posture of an objective to be handled.5. A guidance system that enabled an autonomous vehicle to follow a human operated tractor.6. A computer-controlled front-loader having three degrees of freedom was constructed for precise handling of heavy materials.7. An object-oriented simulator with three dimensional animation was developed for autonomous vehicle study.