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Research and Development of Farm Mobile Robot for Sloping Terrain to Promote Mountainous District Agriculture

Research Project

Project/Area Number 17580227
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Agricultural information engineering
Research InstitutionIwate University

Principal Investigator

TORISU Ryo  Iwate University, Faculty of Agriculture, Professor, 農学部, 教授 (70038264)

Co-Investigator(Kenkyū-buntansha) TAKEDA Junichi  Iwate Univ., Faculty of Agriculture, Associate Professor, 農学部, 助教授 (80133908)
IMAE Jyo  Osaka Prefecture Univ., Faculty of Engineering, Professor, 工学部, 教授 (30184807)
Project Period (FY) 2005 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥3,700,000 (Direct Cost: ¥3,700,000)
Fiscal Year 2006: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 2005: ¥2,500,000 (Direct Cost: ¥2,500,000)
Keywordsfarm mobile robot for sloping terrain / Neural Network vehicle model / on-tracking control system / generalization / tractor-implement system / broadcaster / platooning system / robustness / AI車両モデル / ファージ車両モデル / platooning
Research Abstract

1)Realization of Platooning system
A two farm tractor platooning system was developed. The farm tractor platooning system is defined the system that a preceding tractor which operated by a human-operator is pursued by a following mobile robot tractor on the farm. We designed and reconstructed the system and did the pre-test last year (2006).
(1)Tractor platooning system experiment on flat terrain
The exreriments were executed on a flat ground. Its average inclination is 3 degrees. 'II-actor velocities were set about 50(canisec). The distance between preceding and following vehicle was maintained 5(m). Especially the kinematic vehicle model was applied in this platooning system.
(2)Tractor platooning system experiment on sloping terrain
The exreriments were executed on a sloping terrain. Its average inclination is 10 degrees. 'II-actor velocities were set about 50(cm/sec). The distance between preceding and following vehicle was maintained 5(m). In this test the neural network(NN) vehicle mo … More del was applied in the platooning system.
The results of this platooning system indicated that following mobile robot tractor followed up the leading one successfully with mean and RMS lateral deviations of 2.2 and 8.4 cm, respectively on sloping terrain.
2)Expansion of neural network vehicle model and its application for mobile robot on sloping terrain.
A NN vehicle model was formulated and reconstructed for estimating vehicle behaviors on sloping terrain. A new training method combined with genetic algorithm and back propagation algorithm was used to train the NN vehicle model.
3)Realization of Tractor-Implement System and its application for mobile robot on sloping terrain.
A broadcaster was mounted on the Mitubishi tractor that was adapted from the original to the mobile robot. The system weight was controlled on three levels as tractor itself(T), tractor plus implement and tractor plus implement with addition of fertilizer weight. The NN vehicle model developed for single tractor system were applied for two tractor+implement(T+I) and tractor + implement+fertilizer weight(T+I+200). T,T+I and T+I+200 system were traveled along the contour line on the sloping terrain. Field tests showed that for rectilinear paths(contour lines), the average tracking was -4cm, with standard deviation of 6cm, and for the curved paths, the maximum lateral deviation and maximum orientation error were less than 8cm and 11 degree respectively at the completion of these paths. Less

Report

(3 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • Research Products

    (5 results)

All 2006 2005

All Journal Article (5 results)

  • [Journal Article] 計算上のロバスト性考慮した実時間制御アルゴリズムとその応用2006

    • Author(s)
      小林友明, 井前譲, 鳥巣諒 ほか
    • Journal Title

      シュミレーション 25

      Pages: 202-209

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Applications of Real-time Control Algorithm Considering Numerical Robustness2006

    • Author(s)
      T.Kobayashi, J.Maenishi, J.Emae, G.Zhai, R.Torisu
    • Journal Title

      Simulation Vol.25, No.3

      Pages: 202-209

    • NAID

      110004811932

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 計算上のロバスト性を考慮した実時間制御アルゴリズムとその応用2006

    • Author(s)
      小林智明, 前西潤一, 井前 譲, 貴生, 鳥巣 諒
    • Journal Title

      シミュレーション 25・32

      Pages: 202-209

    • NAID

      110004811932

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Neural Network for estimating Vehicle Behavior on Sloping Terrain2005

    • Author(s)
      Z.X.Zhu, R.Torisu, J.Takeda, et al.
    • Journal Title

      Biosystems Engineering 91(4)

      Pages: 403-411

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Autonomaus Guidance of Tractor Along Arbitary Paths on Sloped Terrain2005

    • Author(s)
      Z.X.Zhu, J.Takeda, R.Torisu
    • Journal Title

      J.of Japanese Society of Agricultural Machinery 67(5)

      Pages: 86-92

    • Related Report
      2005 Annual Research Report

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Published: 2005-04-01   Modified: 2016-04-21  

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