Proceedings of the Korean Society for Agricultural Machinery Conference (한국농업기계학회:학술대회논문집)
- 2000.11c
- /
- Pages.707-714
- /
- 2000
STEERING CONTROL SYSTEM FOR AUTONOMOUS SMALL ORCHARD SPRAYER
- B. S. Shin (Division of Agricultural Engineering College of Agriculture and Life Sciences, Kangwon National University) ;
- Kim, S. H. (Division of Agricultural Engineering College of Agriculture and Life Sciences, Kangwon National Universit) ;
- Kim, K. I. (Department of Electrical Engineering, Myongji University)
- Published : 2000.11.01
Abstract
For self-guiding track-type orchard sprayer, a low-cost steering controller was developed using two ultrasonic sensors, two DC motors and 80196kc microprocessor. The operating principle of controller was to travel the sprayer between artificial targets such as wood stick placed every 1 m along both sides of the demanded path of speed sprayer. Measuring distances to both targets ahead with the ultrasonic sensors mounted on the front end of sprayer, the controller could determine how much offset the position of sprayer was laterally. Then the steering angle was calculated to actuate DC motors connected to the steering clutches, where the fuzzy control algorithm was used. Equipped with the controller developed in this research, the sprayer could be traveled along demanded path, the centerline between targets, at speeds of up to 0.4m/sec with an accuracy of
Keywords
- steering control system;
- track-type orchard sprayer;
- autonomous travel;
- ultrasonic sensor;
- artificial target