畦畔除草ロボットのためのキャンバ-ステアリングを利用した横滑り抑制に関する研究

抄録

The burden of agricultural workers has increased to weed grass on levees in rice fields due to the aging of agricultural workers in Japan. To decrease workers' burden, weed cutter robots with the function of changing the camber angle system have been developed in our previous study. However, the camber angle sideslip suppression effect is not enough to suppress sideslip when the inclination is 40 degrees or more. To solve this problem, we propose the sideslip suppression method using the camber angle and steering angle. From experiments, it was confirmed that the proposed mechanism was effective at an inclination of 40 degrees.