Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
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Development of an Autonomous Guidance System Based on an Electric Vehicle for Greenhouse

온실내 작업 가능한 전동작업차의 자동추종 주행시스템 개발

  • Hong, Young-Ki (Department of Agricultural Engineering, National Academy of Agricultural Science) ;
  • Lee, Dong-Hoon (Sungkyunkwan University) ;
  • Shin, Ik-Sang (Department of Agricultural Engineering, National Academy of Agricultural Science) ;
  • Kim, Sang-Cheol (Department of Agricultural Engineering, National Academy of Agricultural Science) ;
  • Tamaki, Koji (Bioproduction and Environment Engineering, Tokyo University of Agriculture)
  • Published : 2009.12.25
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Abstract

The percentage of those aged 60 and over is 43.5% among our country's 3,186 thousands farming population, so farm village is getting aging society rapidly. Moreover agricultural competitiveness has being weakened due to labor shortage by degradation in quality of labor configuration from elderly porson. For realisms easy workability, we developed a motor vehicle for agricultural activity. The vehicle has an automatic guidance system which could follows a track of magnetic tape on the floor for easy moving to given working position. We collected data from two guidance sensors, located on front and rear end of the vehicle and calculated displacement and angle deviation from the track. This traveling system was stably controlled with processing information deflection S, angle of deviation, D and angle velocity, Vt = $k_1D$ - $k_2S$ from two guidance sensors attached on front and rear of th motor vehicle. Also this system have been tested under various condition of $k_1$, $k_2$ for comparison on both stepped and turning routes. The results show that traveling performance is best at $k_1$=0.7, $k_2$=3.

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References

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