Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In automatic harvesting of vegetables, since crops does not grow in a straight line, it is necessary to track a harvester to a path corresponds to the position of farm products. On the other hand, tracked vehicles with on/off drive are often used for vegetable harvesters, and the vehicles have constraints such as the minimum turning radius. Therefore, the curvature radius of a generated path becomes smaller than the minimum turning radius in some cases when the paths are generated with spline interpolation etc. Hence, we propose a path generation method considering constraints of vehicle characteristics using Model Predictive Control, and we shows its effectiveness by numerical simulations.
