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http://dx.doi.org/10.7746/jkros.2022.17.2.142

Development of Path Tracking Algorithm and Variable Look Ahead Distance Algorithm to Improve the Path-Following Performance of Autonomous Tracked Platform for Agriculture  

Lee, Kyuho (Autonomous Vehicle.Intelligent Robotics, Hongik University)
Kim, Bongsang (Autonomous Vehicle.Intelligent Robotics, Hongik University)
Choi, Hyohyuk (Autonomous Vehicle.Intelligent Robotics, Hongik University)
Moon, Heechang (Mechanical & System Design Engineering, Hongik University)
Publication Information
The Journal of Korea Robotics Society / v.17, no.2, 2022 , pp. 142-151 More about this Journal
Abstract
With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.
Keywords
Tracked Vehicle; Agricultural Robot; Path Tracking;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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