Basic Study on Mobile Robot in Field Furrow (3rd Report, Path Tracking and Moving Experiment of Robot System on 3D Terrain Using Inclination Angle of Robot)
نویسندگان
چکیده
In this paper, we describe a robot system which can track a given path on a 3D terrain using the inclination of the robot in real time. We designed a model of 3D terrain between two ridges based on some measured shape, and made a desired path on the lowest portion of the field furrow. We newly designed a mobile robot system which can track the path using the a method proposed in the second report. The path tracking control of this robot system is carried out using a rolling angle and change of a rolling angle of the robot. The rolling angle is measured using an inclination sensor installed on the robot when pitching angle is controlled at zero. The pitching angle control is carried out by controlling a linear actuator installed in the robot. Path tracking by the newly designed robot system was shown together with some experimental results.
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