Citation

Sutiarso L, Kurosaki H, Takigawa T, Koike M, Yukumoto O, Hasegawa H. Trans. ASAE/ASABE 2002; 45(4): 1199-1205.

Copyright

(Copyright © 2002, American Society of Agricultural and Biological Engineers)

DOI

unavailable

PMID

unavailable

Abstract

A positioning method using a simple laser sensor was developed and employed for navigation to a target. The laser sensor scans existing reflectors and measures their directions and positions using a triangulation method. After calibration, the accuracy of distance measurement was around 10 cm. A control system that steers an autonomous vehicle following a human-operated tractor was also developed. Experiments regarding the application of the laser sensor confirmed that an experimental autonomous tractor could follow a leading human-operated tractor without collision. However, the autonomous tractor tended to take shortcuts due to feedback. Automatic fertilizer refilling experiments were conducted using an autonomous vehicle equipped with a broadcast fertilizer distributor. The laser positioning method was used to locate the fertilizer supplier. Results of the field experiment showed that the trajectory control algorithm proposed in Part I could guide the vehicle with satisfactory accuracy for refilling. The main factor contributing to navigation error was the limit of the steering angle of the front wheels.