Caterpillar Equipped Mobile Robot Navigation with Dynamic Windows Approach for Outdoor Agriculture Application = Caterpillar Equipped Mobile Robot Navigation with Dynamic Windows Approach for Outdoor Agriculture Application

다국어 초록 (Multilingual Abstract)

Autonomous robot have great potential to deal with various kinds of fieldwork. In spite of wheeled robot can adapt most landforms, it has to face to stability and trafficability problems in tough terrains. In order to apply to complicate outdoor environments, we develop a caterpillar equipped robot system with simplified Dynamic Window Approach for agriculture application. The caterpillar equipped robot system composed by a localization system which is integration of RTK-GPS, IMU and IMU auto-calibrate device, a Robot Operating System(ROS) high-level controller and a base controller. The caterpillar mobile robot has features of high traction and high mobility. Since it has differential drive architecture, different kinds of navigation algorithm can be easily applied to it. Dynamic Windows Approach(DWA) is a local navigation algorithm, which can select optimized velocity for robot by estimating its current heading and distance to goal, and it also can generate smooth path for robot. As the results of experiments, our robot can cruise certain path accurately even in rough terrain, and it can also correct orientation by itself periodically, it can satisfy the demand of outdoor agriculture usage.