In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and d...In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.展开更多
The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen th...The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen the weak points. It needs various actions and expressions because of the nature of a puppet. The biggest problem which executes this is the ways to create a system. This thesis proposes motion capture of developed method with solution of this problem. So, we create various contents needed by puppet. In this part, developed method means a mixed method on the basis of optical system and magnetic system used mainly for the present method of motion capture. We lessen the weak points of each method and propoe solution of create motion for pupct by offering more advantages. So we solve difficulties of executing puppet and probable probkans when we execute puppet by using robot. The solution of this thesis is proven by applying control of puppet.展开更多
基金Project (No. 2006AA10A304) supported by the Hi-Tech Researchand Development Program (863) of China
文摘In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.
基金supported bythe Ministry of Knowledge Economy,Korea,the ITRC(Information Technology Research Center)support program(No.NIPA-2009-(C1090-0902-0007))
文摘The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen the weak points. It needs various actions and expressions because of the nature of a puppet. The biggest problem which executes this is the ways to create a system. This thesis proposes motion capture of developed method with solution of this problem. So, we create various contents needed by puppet. In this part, developed method means a mixed method on the basis of optical system and magnetic system used mainly for the present method of motion capture. We lessen the weak points of each method and propoe solution of create motion for pupct by offering more advantages. So we solve difficulties of executing puppet and probable probkans when we execute puppet by using robot. The solution of this thesis is proven by applying control of puppet.
