• Journal of Biosystems Engineering
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• v.38 no.1
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• pp.1-8
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• 2013

Purpose: Path planning and tracking algorithms applicable to various agricultural operations, such as tillage, planting, and spraying, are needed to generate steering angles for auto-guidance tractors to track a point ahead on the path. An optimal coverage path algorithm can enable a vehicle to effectively travel across a field by following a sequence of parallel paths with fixed spacing. This study proposes a path generation and tracking algorithm for an auto-guided Korean tractor with a tillage implement that generates a path with C-type turns and follows the generated path in a paddy field. A mathematical model was developed to generate a waypoint path for a tractor in a field. This waypoint path generation model was based on minimum tractor turning radius, waypoint intervals and LBOs (Limit of Boundary Offsets). At each location, the steering angle was calculated by comparing the waypoint angle and heading angle of the tractor. A path following program was developed with Labview-CVI to automatically read the waypoints and generate steering angles for the tractor to proceed to the next waypoint. A feasibility test of the developed program for real-time path tracking was performed with a mobile platform traveling on flat ground. The test results showed that the developed algorithm generated the desired path and steering angles with acceptable accuracy.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.30 no.5
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• pp.348-355
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• 2019

UHF and microwave RFID systems are widely applied in various fields because they can read a plurality of tag information within a radius of several meters ahead of the RFID reader. However, they cannot detect the position of the tag in applications that recognize only a tag at a specific position. In this study, we propose a new RFID system that can interrogate the tag of a specific location selectively by using the position information of the tag. This can be done by only adjusting the reader's operating frequency. To verify the feasibility of the proposed system, we implemented a 2.4 GHz RFID reader whose frequency can be varied by using a phase-locked loop circuit and a backscattered tag. Experimental results confirm that the tag position can be sensed exactly.