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논문 기본정보
벼농사용 무인 제초로봇의 건답환경 주행 성능
논문 개요
| 기관명 | NDSL |
|---|---|
| 저널명 | 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering |
| ISSN | 1225-9071, |
| ISBN |
논문저자 및 소속기관 정보
| 저자(한글) | 김국환,김상철,홍영기 |
|---|---|
| 저자(영문) | |
| 소속기관 | |
| 소속기관(영문) | |
| 출판인 | |
| 간행물 번호 | |
| 발행연도 | 2014-01-01 |
| 초록 | This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column. |
| 원문URL | http://click.ndsl.kr/servlet/OpenAPIDetailView?keyValue=03553784&target=NART&cn=JAKO201403537263327 |
| 첨부파일 |
추가정보
| 과학기술표준분류 | |
|---|---|
| ICT 기술분류 | |
| DDC 분류 | |
| 주제어 (키워드) | 무인 제초 로봇,센서 융합,모열 검출,경로 추정,Unmanned Weeding Robot,Sensor Fusion,Rice Seedling Detection,Path Estimation |