Autonomous Parallel Travelling of a Robot Tractor for Automatic Harvesting and Unloading of an Onion Harvester

This paper proposes an autonomous parallel travelling system for an onion harvester and a tractor. Path following control via sliding mode control is applied to each vehicle. The velocity of the tractor is also controlled using the velocity and position of the onion harvester to maintain their relat...

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Bibliographic Details
Published inShisutemu Seigyo Jouhou Gakkai rombunshi Vol. 34; no. 6; pp. 160 - 166
Main Authors Onoyama, Hiroyuki, Sugaya, Shuto, Aoyama, Hiroya, Fujita, Daichi, Fukao, Takanori, Murakami, Noriyuki
Format Journal Article
LanguageJapanese
Published Kyoto THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE) 15.06.2021
Japan Science and Technology Agency
Subjects
autonomous parallel travelling
Harvesters
Harvesting
onion picker, path following control
Onions
Sliding mode control
tractor
Trajectory planning
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Summary:This paper proposes an autonomous parallel travelling system for an onion harvester and a tractor. Path following control via sliding mode control is applied to each vehicle. The velocity of the tractor is also controlled using the velocity and position of the onion harvester to maintain their relative position. As the result of experiments, the lateral, longitudinal and orientation errors between the tractor and the onion harvester were less than 0.07 m, 0.11 m and 2◦, respectively. It was sufficient for the actual onion harvesting.
ISSN:1342-5668
2185-811X
DOI:10.5687/iscie.34.160