Development of Tilling Robot (Part 2)

Steering Control on Autonomous Operation using Position Sensing System and Geomagnetic Direction Sensor

Abstract

This study aims to develop a steering control system for following a predetermined path which was obtained by the module of a task planning. The tilling robot system which had a position sensing system (OPTREC) and a geomagnetic direction sensor (TMS) was developed. The OPTREC which was remodeled from an opt-electric type surveying instrument is able to follow the movement of the robot and measure the position in the interval of 0.5s to 0.8s. The steering controller which considered nonlinearity of the vehicle dynamics, enabled the robot to follow the predetermined path under the average lateral error of about 5.2cm on a flat field.