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Turning Function for Robot Tractor Based on Spline Function

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

Citation:  Paper number  011196,  2001 ASAE Annual Meeting. (doi: 10.13031/2013.7298) @2001
Authors:   Noboru Noguchi, John F. Reid, Qin Zhang, Jeffrey D. Will
Keywords:   mobile robot, autonomous vehicle, path creation, tuning function, spline function, GPS, fiber Optic gyroscope (FOG)

A challenge for autonomous field robotic systems for agriculture is preserving the general-purpose capabilities of the machine for various types of operations and maneuvers. This study addressed the issue of the dynamic nature of headland turning of the vehicle using third-order spline functions. The methodologies that were developed considered both the non-holonomic aspects of vehicle motion and the constraints on the curvature of the path that is acceptable on the headland. This automatic path creation method could generate feasible headland turning paths for the vehicle. Computer simulations and field tests were performed using a mobile robot vehicle based on a medium-size tractor. The robotic vehicle used a real-time kinematic GPS (RTK-GPS) and a fiber optic gyroscope (FOG) as navigation sensors. Through the field tests, it was concluded that the developed path creation method allowed the robot to make turns precisely.

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