Automatic-Driving Control System to Exit a Garage and Travel on a Farm Road for a Robotic Combine

—Exiting a Garage by using SLAM—

Abstract

In order for agricultural robots to work more manpower-saving and more efficient, they need not only to work in the fields, but also to automate from exiting a garage to traveling on a farm road. This research aims that a robotic combine exits a garage automatically. SLAM by LIDAR is adopted for localization in the garage. It is tested that the robot can travel from the initial position (about 4 m far and ±0.8 m shifted from side to side) to the exit center at 0.2 m/s based on the estimated poses. As the result, the robot’s pose could be estimated by SLAM at the rate of 10 fps and the robot could travel toward the exit center within±0.12 m error.