지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국농업기계학회 Agricultural and Biosystems Engineering Agricultural and biosystems engineering 제6권 제2호
- 발행연도
- 2005.1
- 수록면
- 47 - 53 (7page)
이용수
초록· 키워드
오류제보하기
AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.
목차
등록된 정보가 없습니다.
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
웹 카메라를 이용한 차동구동방식 차량의 무인주행
한국농업기계학회 학술발표논문집
2005 .01
-
Guidance of Autonomous Vehicle in Well-Structured Environment
대한전자공학회 학술대회
1990 .01
-
Guidance of Autonomous Vehicle in Well-structured Environment
제어로봇시스템학회 국내학술대회 논문집
1990 .10
-
Steering Control of Autonomous Vehicle by the Vision System
제어로봇시스템학회 국제학술대회 논문집
2001 .10
-
Autonomous-guided orchard sprayer using overhead guidance rail
바이오시스템공학(구 한국농업기계학회지)
2006 .01
-
Development of Steering Control System for Autonomous Vehicle Using Geometry-Based Path Tracking Algorithm
[ETRI] ETRI Journal
2015 .06
-
자동 Vehicle Guidance 시스템을 위한 궤적 발생과 제어 알고리즘에 관한 연구 ( A Study of the Trajectory Generation and the Control Algorithm for an Automatic Guidance System of an Autonomous Vehicle )
대한전자공학회 학술대회
1994 .01
-
A Model Predictive Controller for Autonomous Vehicle Path Tracking by Considering Dynamics of Automatic Steering System
한국자동차공학회 추계학술대회 및 전시회
2012 .11
-
고속 자율 주행 차량의 고자유도 모델 기반 조향제어 알고리즘 개발
한국자동차공학회 추계학술대회 및 전시회
2013 .11
-
Steering Control of the Autonomous Guided Vehicle Driving System for Durability Test
제어로봇시스템학회 국내학술대회 논문집
2000 .10
-
Steering Control of the Autonomous Guided Vehicle Driving System for Durability Test
제어로봇시스템학회 국내학술대회 논문집
2000 .10
-
Autonomous Family Machine 요소기술
전기의세계
2002 .12
-
레이저 유도 시스템을 이용한 AGV의 경로추적
로봇학회 논문지
2010 .06
-
Development of Autonomous Vehicle
대한전자공학회 워크샵
2010 .10
-
Steering Characteristics of an Autonomous Tractor with Variable Distances to the Waypoint
Journal of Positioning, Navigation, and Timing
2013 .01
-
Empirical Modeling of Steering System for Autonomous Vehicles
Journal of Electrical Engineering & Technology
2017 .03
-
A Study on the Transfer to Drive Control of the Autonomous Vehicle : Focused on Level 3 of Autonomous
대한인간공학회 학술대회논문집
2016 .11
-
Earth Work Bim for Machine Guidance
대한토목학회 학술대회
2016 .10
-
Steering Control for Lateral Guidance of an All Wheel Steered Vehicle
제어로봇시스템학회 국제학술대회 논문집
2008 .10
-
비전 카메라 기반의 무논환경 자율주행 로봇을 위한 중심영역 추출 정보를 이용한 주행기준선 추출 알고리즘
로봇학회 논문지
2016 .03
이 논문의 저자 정보
최근 본 자료
댓글(0)
0