Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Study on Traveling Characteristics of Straight Automatic Steering Devices for Drivable Agricultural Machinery

승용형 농기계용 직진 자동조향장치 주행특성 연구

  • Won, Jin-ho (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Jeon, Jintack (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Hong, Youngki (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Yang, Changju (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Kim, Kyoung-chul (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Kwon, Kyung-do (Department of Agricultural Engineering, National Institute of Agricultural Sciences) ;
  • Kim, Gookhwan (Department of Agricultural Engineering, National Institute of Agricultural Sciences)
  • Received : 2022.09.09
  • Accepted : 2022.10.13
  • Published : 2022.12.01
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Abstract

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

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Acknowledgement

본 연구는 농촌진흥청 연구사업(세부 과제 번호 : PJ014899012022)에서 지원하여 수행하였음을 밝힙니다.

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