2013•Unpublished venueRequires access

Enhancement of Turning Accuracy by Path Planning for Robot Tractor

Michio Kise, Noboru Noguchi, Kazunobu Ishii, Hideo Terao

Abstract

Turning algorithm for a robot tractor was developed in this paper. Two types of turning pathswere created by applying third-order Spline function; forward turning and switch-back turning.The constraints relating to the tractor characteristics, minimum turning radius and maximumsteering speed, were introduced for creating a feasible turning path. The turning path wasrecalculated while created path didnt meet these constraints. Validity of the constraints was confirmed by a computer simulation. Developed algorithm wasinstalled in the robot tractor with an RTK-GPS and a FOG and tested at field. It showed higherfollowing accuracy in comparison to conventional method.

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Available abstract

Key concepts: Turning radius, Tractor, Robot, Computer science, Motion planning, Path (computing), Spline (mechanical), Simulation