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Enhancement of Turning Accuracy by Path Planning for Robot Tractor

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Pp. 398-404 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10029)
Authors:   Michio Kise, Noboru Noguchi, Kazunobu Ishii, Hideo Terao
Keywords:   Turning path planning, Spline function, Motion constraints, Forward turning, Switch-Back turning

Turning algorithm for a robot tractor was developed in this paper. Two types of turning paths were created by applying third-order Spline function; forward turning and switch-back turning. The constraints relating to the tractor characteristics, minimum turning radius and maximum steering speed, were introduced for creating a feasible turning path. The turning path was recalculated while created path didn’t meet these constraints.

Validity of the constraints was confirmed by a computer simulation. Developed algorithm was installed in the robot tractor with an RTK-GPS and a FOG and tested at field. It showed higher following accuracy in comparison to conventional method.

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