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Research on a working station for autonomous bio-production robots

Research Project

Project/Area Number 09460113
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field 農業機械学
Research InstitutionUniversity of Tsukuba

Principal Investigator

TAKIGAWA Tomohiro  Institute of Agricultural and Forest Engineering, University of Tsukuba, Associate Professor, 農林工学系, 助教授 (00236382)

Co-Investigator(Kenkyū-buntansha) HASEGAWA Hideo  Institute of Agricultural and Forest Engineering, University of Tsukuba, Research Associate, 農林工学系, 助手 (80292514)
YODA Akira  Institute of Agricultural and Forest Engineering, University of Tsukuba, Research Associate, 農林工学系, 助手 (70133064)
KOIKE Masayuki  Institute of Agricultural and Forest Engineering, University of Tsukuba, Professor, 農林工学系, 教授 (60032306)
野口 良造  筑波大学, 農林工学系, 助手 (60261773)
Project Period (FY) 1997 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥6,900,000 (Direct Cost: ¥6,900,000)
Fiscal Year 1999: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1998: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 1997: ¥3,000,000 (Direct Cost: ¥3,000,000)
KeywordsAutonomous Traveling / Robots / Nonlinear Control / Trajectory Control / Automatic Systems / 農業用車両 / 軌跡制御 / レーザーセンサ / 自立走行 / 作業機着脱 / 道路移動 / 接近制御
Research Abstract

To overcome facing difficulties of Japanese agriculture, autonomous traveling technology was investigated as a base of development of robots for agricultural use. For completion of development of fully automated operations by using agricultural machines, it is requisite to realize automatic refilling of agricultural material or automatic exchange of implements by an autonomous vehicle itself. In this study we concentrated on a searching method of an object to approach, such as a refilling container of fertilizer or an implement to be mounted, and a control method to approach it.
The positioning method of an object that used triangulation surveying with a simple laser sensor was developed. It was confirmed by actual experiment that the accuracy of the developed positioning system was less than 10cm in the distance less than 7m.
The developed approaching control is basically an open loop control which steers the vehicle on the trajectory designed from given conditions previously. At first it was shown that we can design a trajectory from given initial conditions by using linearized motion equations of the center of the vehicle's real axle. Though the trajectory method for the implement mounted on the vehicle was derived in the same manner, the control parameters have to be determined by a searching. In addition the feasibility of the methods were checked through simulation studies. Finally the performance of the controller was examined in field experiments by using an autonomous tractor of actual size. As a result the final positional error at the target point was less than 1% in the range of tested on concrete roads.
As a result of image processing, detection of boundary from a noisy image was developed. And the other application of image processing enabled us to find out moving objects in the surrounding area. It might be applicable as a safety device for autonomous vehicles.

Report

(4 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • 1997 Annual Research Report
  • Research Products

    (4 results)

All Other

All Publications (4 results)

  • [Publications] Lilik Sutiarso他: "自律走行車両のための作業機走行軌跡制御(第2報)"農業機械学会誌. 61・4. 131-140 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Lilik Sutiaruso, Tomohiro TAKIGAWA, Masayuki KOIKE, Hideo HASEGAWA: "Trajectory Control for Agricultural Autonomous Vehicles (Part 2) -For Front-Steering Vehicles-"Journal of JSAM. 61(6). 131-140 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Lilik Sutiarso 他: "自律走行のための作業機走行軌跡」制御(第2報)"農業機械学会誌. 61・4. 131-140 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Lilik Sutiarso: "Trajectory Control System for Autonomos Agriculturol Tractor" International Symposium ISTVS. 13. (1999)

    • Related Report
      1998 Annual Research Report

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Published: 1997-04-01   Modified: 2016-04-21  

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