TY  - JOUR
PY  - 2002//
TI  - Trajectory control and its application to approach a target: Part II. Target approach experiments
JO  - Transactions of the American Society of Agricultural and Biological Engineers
A1  - Hasegawa, Hiroshi
A1  - Yukumoto, O
A1  - Koike, M
A1  - Takigawa, Tomihisa
A1  - Kurosaki, H
A1  - Sutiarso, L.
SP  - 1199
EP  - 1205
VL  - 45
IS  - 4
N2  - 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.<p />
LA  - 
SN  - 0001-2351
UR  - http://dx.doi.org/
ID  - ref1
ER  -