自動収穫のためのロボットトラクタ並走システムに関する研究

抄録

Recently, the labor shortage is becoming more serious because of decrease and aging of farmers in Japan. As a solution therefore, the automation of agricultural robots are trying to expand the scale of management and labor saving. This paper describes a study of an automated parallel running robot tractor for automatic harvesting. The goal is to run a harvester and tractor towing the containers to hold harvested crops in parallel. This study uses a high accurate self-localization method using RTK-GNSS. However, since the output frequency of RTK-GNSS used this time is relatively low, UKF was applied to estimate in high frequency with IMU. Also, the position and attitude information of harvester was obtained by wireless communication. We could not obtain sufficient accuracy because of lack of accuracy of UKF in experiments. Sufficient accuracy of UKF was obtained in the experiment conducted thereafter.