| Project/Area Number |
16380174
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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 |
Agricultural information engineering
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| Research Institution | Hokkaido University |
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Principal Investigator |
NOGUCHI Noboru Hokkaido Univ., Research Faculty of Agriculture, Professor, 大学院農学研究院, 教授 (40228309)
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| Co-Investigator(Kenkyū-buntansha) |
ISHII Kazunobu Hokkaido Univ., Research Faculty of Agriculture, Associate Professor, 大学院農学研究院, 助教授 (70301009)
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| Project Period (FY) |
2004 – 2006
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| Project Status |
Completed (Fiscal Year 2006)
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| Budget Amount *help |
¥15,800,000 (Direct Cost: ¥15,800,000)
Fiscal Year 2006: ¥2,700,000 (Direct Cost: ¥2,700,000)
Fiscal Year 2005: ¥4,200,000 (Direct Cost: ¥4,200,000)
Fiscal Year 2004: ¥8,900,000 (Direct Cost: ¥8,900,000)
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| Keywords | multi-agent / agricultural robot / obstacle avoidance / task planning / vision sensor / following run / 走行制御 / クローラ型ロボット / 通信システム / 農作業ロボット / 障害物 / CAN / 無線LAN |
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| Research Abstract |
Increases in the productivity of agriculture have resulted in a decline in the skilled machine operator work force, particularly in Japan. The average age of the agricultural workforce is increasing, indicating that this profession is not being passed on to the younger generations. Therefore, the development of automated or autonomous agricultural equipment is considered to be of commercial significance and societal importance. The objectives of the study are the operation and control of autonomous mobile robots for farming operation. One of the goals of this study is to investigate the use of mobile robots with as little as possible centralized control.
The key solution to this decentralization problem is to give more autonomy to the vehicles to allow them to cope with unexpected events and obstacles, inaccurate environment model, other vehicles, and so on. This high level of autonomy is achieved using advanced sensor-based capabilities (for localization, obstacle detection and modeling) as well as planning and deliberation between the robots through local communication and coordination. In such context, multi-agent type farming robots needs some essential functions to attain the farm operation. In the research, following required subsystems which contribute to multi-agent farming robots were developed and tested.
-obstacle detection and avoidance system,
-real-time machine vision system of detecting crop growth,
-a leading robot and a following robot based on local sensing,
-task planning for multi-field robots operation.
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