| Title |
Implementation of an Autonomous-driving Function for Multi-purpose Agricultural Tracked Vehicle |
| Authors |
고경남(Kyeong-nam Ko) ; 허준영(Jun-Yeong Heo) ; 박성욱(Sung Wook Park) ; 조재현(Jae-Hyun Cho) ; 김여호수아(Yehoshua Kim) ; 황환철(Hwan-Cheol Hwang) |
| DOI |
https://doi.org/10.5573/ieie.2022.59.10.67 |
| Keywords |
Agricultural tracked vehicle; Path planning; Path smoothing; Obstacle avoidance |
| Abstract |
As the age and number of the workforce in domestic agricultural domain are getting higher and declining, the agricultural machinery is required to be easy to operate and to have improved safety. With this market demand, proto-types such as smart rice-transplanters and smart tracters are demonstrated by several vendors of agricultural machinery. The proto-types can follow a given straight path and make a turn to follow another given straight path, which is suitable for open field usage, but need to have path planning function and obstacle avoidance function to be multi-purpose agricultural tracked vehicle. With this market demand, we developed an autonomous driving module suitable for a multi-purpose agricultural tracked vehicle. The autonomous driving module can generate a driving route using RRT* path planning algorithm in combination with path smoothing technique. Since the generated route is composed of way points, the driving module can also provide proper velocity and angle that the vehicle passes through the way points. In addition, when the presence of obstacles is detected while passing through the way points, the driving module direct the vehicle to avoid the obstacles and to return the route to the destination. The implemented autonomous driving module was mounted on an agricultural tracked vehicle and its functionality was verified through test driving in the field. |