抄録
An agricultural electric vehicle platform (EVP) equipped with a weed mower was developed to address agricultural issues,
such as labor shortages and environmental impact. This paper describes the development of a vision-based parking control
system for docking to recharge an EVP, including an active parking control feature and a passive compliant mechanism for
the connectors between the vehicle and charging station. The EVP could estimate and control its position and orientation by
detecting an augmented reality marker indicating the position of the charging station. The proposed parking methods were
tested in outdoor environments. In addition to a 65 % increase in docking success, the two-step parking control method
exhibited superior alignment accuracy for docking connectors.
