한국농업기계학회:학술대회논문집 (Proceedings of the Korean Society for Agricultural Machinery Conference)
- 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.III
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- Pages.690-697
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- 2000
AUTONOMOUS TRACTOR-LIKE ROBOT TRAVELING ALONG THE CONTOUR LINE ON THE SLOPE TERRAIN
- Torisu, R. (Department of Biological Machinery, Faculty of Agriculture, Iwate University) ;
- Takeda, J. (Department of Biological Machinery, Faculty of Agriculture, Iwate University) ;
- Shen, H. (Graduate School of Agriculture, Iwate University)
- 발행 : 2000.11.01
초록
The objective of this study is to develop a method that is able to realize autonomous traveling for tractor-like robot on the slope terrain. A neural network (NN) and genetic algorithms (GAs) have been used for resolving nonlinear problems in this system. The NN is applied to create a vehicle simulator that is capable to describe the motion of the tractor robot on the slope, while it is impossible by the common dynamics way. Using this vehicle simulator, a control law optimized by GAs was established and installed in the computer to control the steering wheel of tractor robot. The autonomous traveling carried out on a 14-degree slope had initial successful results.