レタス収穫用履帯車両におけるモデル予測制御を応用した経路生成

抄録

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.