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승용 잔디 깎이 자율 주행을 위한 경로 생성 및 추종 제어 알고리즘 개발 및 적용
임미림(Mirim Lim),김성훈(Seonghun Kim),김황근(Hwangeun Kim),강대준(Daejun Kang) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Recently, as the demand for unmanned and IT agricultural machinery increases, the development of autonomous lawn mowers has been actively conducted. However, since the prior robotic autonomous lawn mower works randomly without working path in work space, it has low efficiency for the large work space. In addition, for the localization, other autonomous agricultural machineries mostly have adopted Differential Global Positioning System(DGPS), which is largely expensive to commercialize. In this paper, we propose the autonomous driving algorithm through localization in work space using radar sensor which is relatively inexpensive. For localization of an autonomous lawn mower, an origin in the work space is set using the range and angle data of the landmarks which are installed on both sides of the workspace. And then, the position of an autonomous lawn mower with respect to the origin is estimated using relative range and angle between a mower and a landmark. The landmarks which are used to localization are identified through assigning track ID via radar sensor data of landmarks. Base on above localization method, working path is generated and control input for path following is calculated. It also includes a landmark tracking algorithm considering possibility to change the track ID of the radar sensor data. In experiment, the proposed method shows 95.23% working speed performance and 86.07% path following error (RMSE)compared with manual driving.
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