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http://dx.doi.org/10.5307/JBE.2002.27.5.409

Development of an Autonomous Worker-Following Transport Vehicle (I) - Manufacture and indoor experiment of the prototype vehicle -  

권기영 (National Agricultural Mechanization Research Institute)
정성림 (National Agricultural Mechanization Research Institute)
강창호 (National Agricultural Mechanization Research Institute)
손재룡 (National Agricultural Mechanization Research Institute)
한길수 (National Agricultural Mechanization Research Institute)
정석현 (National Agricultural Mechanization Research Institute)
장익주 (Dept of Agricultural Machinery Engineering, Kyungpook National University)
Publication Information
Journal of Biosystems Engineering / v.27, no.5, 2002 , pp. 409-416 More about this Journal
Abstract
This study was conducted to develop a vehicle, leading or following a worker at a certain distance to assist laborious transporting works in greenhouses. A prototype vehicle, which consisted of the rear driving, the front steering and the console units, was designed and tested in the ideal indoor conditions. Results of this study were summarized as following: 1. The driving unit was designed to travel at the speed ranges of 0.3∼0.8 m/sec depending on the operating modes with a maximum payload of 100 kg. 2. The console unit consisted of a main-board including a 80C196KC microprocessor and peripheral devices, a power-board and safety interlock. Worker-leading, and following modes were available in automatic and manual modes. 3. Steering was achieved by turning the steering motor against the sensed direction. Proper steering angles for correcting travel direction were determined as 5 and 9 degrees when sensing cultivation beds and plants, respectively.
Keywords
Autonomous vehicle; Transportation; Worker-following; Mobile robot Greenhouse;
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