Agriculture Reference
In-Depth Information
Serial
RTK-GNSS
IMU
Laser scanner
Serial
Pulse
ECU
CAN
PC
HST for Shift control
HST for Steering control
Pulse
Pulse
Tape switch
Proximity switch
Bumper sensor
FIGURE 2.12
Schematic diagram of the crawler-type robot tractor.
4769330
4769310
4769290
4769270
4769250
4769230
527210
527230
527250
527270
Easting (m)
FIGURE 2.13
Trajectory of autonomous navigation.
a nonlinear controller considering the HST property was developed. In addition,
a function of map-based variable rate application of fertilizers and chemicals was
implemented because of the CAN communication capability with variable-rate
equipment. Figure 2.13 shows a result of the robot run. In the headlands, the vehicle
turned using a keyhole turning. The robot vehicle could follow the predetermined
path with less than 5 cm of lateral error and less than 1° of heading error.
2.5.3 R
ICE
T
RANSPLANTING
R
OBOT
Figure 2.14 shows a six-row rice transplanting robot developed in NARO, Japan
(Nagasaka
et al., 2004). It has been modified to perform completely automated
