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http://dx.doi.org/10.7746/jkros.2021.16.4.319

A Study on the Environmental-Based Turning Characteristics of Multi-Purpose Agricultural Robots  

Lee, Ji-Won (KIRO)
Kang, Minsu (KIRO)
Park, Huichang (KIRO)
Cho, Yongjun (KIRO)
Oh, Jangseok (KIRO)
Kim, Min-Gyu (KIRO)
Seo, Kap-Ho (KIRO, POSTECH, KNU)
Park, Min-Ro (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence)
Publication Information
The Journal of Korea Robotics Society / v.16, no.4, 2021 , pp. 319-326 More about this Journal
Abstract
To improve the driving performance and work efficiency of the multi-purpose agricultural robot, this paper conducted a study on the turning and steering characteristics of the robot platform according to the characteristics of the working machine coupled to the multi-purpose agricultural robot considering the agricultural environment. First, the size and characteristics of the developed multi-purpose agricultural robot platform and working machine, and the targeted field farming work environment are analyzed. And based on this analysis, the problems that arise in multi-purpose robots with conventional turning methods are quantitatively presented. And to overcome this problem, an improved turning and steering method for multi-purpose agricultural robots is proposed considering the characteristics of various workstations and the agricultural working environment. Finally, by applying the proposed method, the turning characteristics of the multi-purpose agricultural robot according to the working machine are analyzed and the effectiveness of the proposed method is verified.
Keywords
Agricultural Environment; Multi-Purpose Agricultural Robot; Turning Characteristics;
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