Development of autonomous running technique for wide fertilizer spreading in sloping grasslands (Part 1) - autonomous running technique by using only internal sensors

摘要

The autonomous running technology was developed in order to carry out safety, efficiently, labor saving and high-precise fertilizer spreading operation in sloping grassland. The crawler vehicle was mounted control equipment and sensors geomagnetic detection sensor, radar Doppler speed sensor, two slope angle sensors. The automatic travel control was carried out based on self-position calculated from sensor values. The automatic travel was done by the setting of running route assuming wide fertilizer spreading on the sloping grassland that bad irregular shape and the average slope angle is 11 degrees. The deviation of the crosswise direction to setting path was less than 2.5m, at the end point error was less than 1% in all setting distances. This accuracy was equivalent to the manual operation by operator.