Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Development of Autonomous Steering Platforms for Upland Furrow

노지 밭고랑 환경 적용을 위한 자율조향 플랫폼 개발

  • Cho, Yongjun (Korea Institute of Robotics & Technology Convergence) ;
  • Yun, Haeyong (Korea Institute of Robotics & Technology Convergence) ;
  • Hong, Hyunggil (Korea Institute of Robotics & Technology Convergence) ;
  • Oh, Jangseok (Korea Institute of Robotics & Technology Convergence) ;
  • Park, Hui Chang (Korea Institute of Robotics & Technology Convergence) ;
  • Kang, Minsu (Korea Institute of Robotics & Technology Convergence) ;
  • Park, Kwanhyung (Korea Institute of Robotics & Technology Convergence) ;
  • Seo, Kabho (Korea Institute of Robotics & Technology Convergence) ;
  • Kim, Sunduck (Youngdong co.Ltd) ;
  • Lee, Youngtae (Dept. of Bio-ICT Engineering, Andong National University)
  • 조용준 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 윤해룡 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 홍형길 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 오장석 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 박희창 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 강민수 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 박관형 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 서갑호 (한국로봇융합연구원 농업로봇자동화연구센터) ;
  • 김순덕 ((주)영동농기계) ;
  • 이영태 (안동대학교 바이오ICT융합공학과)
  • Received : 2021.06.14
  • Accepted : 2021.07.26
  • Published : 2021.09.30
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Abstract

We developed a platform that was capable of autonomous steering in a furrow environment. It was developed to autonomously control steering by recognizing the furrow using a laser distance, three-axis tilt, and temperature sensor. The performance evaluation indicated that the autonomous steering success rate was 99.17%, and it was possible to climb up to 5° on the slope. The usage time was approximately 40 h, and the maximum speed was 6.7 km/h.

Keywords

Acknowledgement

이 논문은 2020년도 농림축산식품부 첨단농기계산업화기술개발사업, 첨단생산기술개발사업 연구비 지원에 의하여 연구되었음(120077-1, 317072-04, 320028-3).

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