| Project/Area Number |
12460109
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
農業機械学
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| Research Institution | University of Tsukuba |
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Principal Investigator |
TAKIGAWA Tomohiro Institute of Agricultural and Forest Engineering, Associate Professor, 農林工学系, 助教授 (00236382)
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| Co-Investigator(Kenkyū-buntansha) |
YODA Akira Institute of Agricultural and Forest Engineering, Assistant Professor, 農林工学系, 助手 (70133064)
HASEGAWA Hideo Institute of Agricultural and Forest Engineering, Assistant Professor, 農林工学系, 助手 (80292514)
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| Project Period (FY) |
2000 – 2002
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| Project Status |
Completed (Fiscal Year 2002)
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| Budget Amount *help |
¥10,300,000 (Direct Cost: ¥10,300,000)
Fiscal Year 2002: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2001: ¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 2000: ¥6,100,000 (Direct Cost: ¥6,100,000)
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| Keywords | Intelligent robots / Trajectory control / Handling / Agricultural operation / Automatic operation / Automatic following control / 知能トラクタ / 自律走行 / トレーラ / フィードバック制御 / 分散型制御系 |
|---|
| Research Abstract |
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.
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