Proceedings of the Korean Society for Agricultural Machinery Conference (한국농업기계학회:학술대회논문집)

Korean Society for Agricultural Machinery (한국농업기계학회)
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AUTONOMOUS TRACTOR-LIKE ROBOT TRAVELING ALONG THE CONTOUR LINE ON THE SLOPE TERRAIN

  • Torisu, R. (Department of Biological Machinery, Faculty of Agriculture, Iwate University) ;
  • Takeda, J. (Department of Biological Machinery, Faculty of Agriculture, Iwate University) ;
  • Shen, H. (Graduate School of Agriculture, Iwate University)
  • Published : 2000.11.01
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Abstract

The objective of this study is to develop a method that is able to realize autonomous traveling for tractor-like robot on the slope terrain. A neural network (NN) and genetic algorithms (GAs) have been used for resolving nonlinear problems in this system. The NN is applied to create a vehicle simulator that is capable to describe the motion of the tractor robot on the slope, while it is impossible by the common dynamics way. Using this vehicle simulator, a control law optimized by GAs was established and installed in the computer to control the steering wheel of tractor robot. The autonomous traveling carried out on a 14-degree slope had initial successful results.

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