표제지
초록
목차
제1장 서론 11
제1절 연구의 배경 11
제2절 연구의 목적 15
제3절 문헌 조사 16
제1항 경로 생성 알고리즘 16
제2항 경로 추종 알고리즘 19
제2장 재료 및 방법 23
제1절 곡선 경로 생성 알고리즘 23
제1항 Smoothing-spline을 활용한 기준 경로 생성 23
제2항 왕복 곡선 작업 경로 생성 24
제2절 곡선 경로 대응 경로 추종 알고리즘 30
제1항 작업기 기준 경로 추종 알고리즘 30
제2항 곡률 적용 경로 추종 알고리즘 34
제3절 평가 방법 39
제1항 3D 트랙터 시뮬레이터를 활용한 경로 추종 알고리즘 타당성 분석 39
제2항 현장 평가 44
제3장 결과 및 고찰 54
제1절 경로 추종 알고리즘 비교 평가 및 요인 분석 54
제2절 시뮬레이션 테스트 58
제1항 곡률 적용 경로 추종 알고리즘 시뮬레이션 테스트 58
제2항 왕복 곡선 작업 경로 시뮬레이션 테스트 62
제3절 곡선 경로 생성 및 경로 추종 기술 검증 및 성능 현장 평가 73
제1항 왕복 곡선 작업 경로에서의 현장 평가 73
제4장 결론 79
참고 문헌 81
Abstract 85
Table 2-1. An example of RDDF generated as the reference information for path tracking and agricultural task 26
Table 2-2. Specifications of the TX853 tractor used in this study 45
Table 2-3. Specifications of the navigational controller 47
Table 2-4. Components of autonomous tractor 47
Table 2-5. Specifications of the antenna and GNSS/INS 49
Table 2-6. Specifications of the EPS module 49
Table 3-1. Lateral deviation and heading error RMSE in the simulator 56
Table 3-2. Heading error and implement lateral deviation RMSEs of without curvature and with curvature driving steep curve 59
Table 3-3. Heading error and implement lateral deviation RMSEs of without curvature and with curvature driving... 61
Table 3-4. Heading error, implement lateral deviation and lateral deviation of round operating RMSEs of without... 66
Table 3-5. Heading error, implement lateral deviation and lateral deviation of round operating RMSEs of without... 68
Table 3-6. Heading error, implement lateral deviation and lateral deviation of round operating RMSEs of without... 70
Table 3-7. Heading error, implement lateral deviation and lateral deviation of full path RMSEs of without curvature and... 77
Figure 1-1. Implement guidance system (John Deere) 12
Figure 1-2. Types of curves offered by autonomous system (John Deere, Autotrac) 13
Figure 2-1. Example of curved path using the smoothing spline method 24
Figure 2-2. Path generation algorithm flow chart 25
Figure 2-3. Guidance Line generation for path generation 27
Figure 2-4. Omega type curve of Dubins curve 28
Figure 2-5. Generating a headland turning path considering the vector value of the path 29
Figure 2-6. Tractor center of gravity based path-tracking method 31
Figure 2-7. Implement center based path-tracking method 31
Figure 2-8. Error comparison of curve and circle for three points for waypoints generation 34
Figure 2-9. Examples of straight and curved path driving 35
Figure 2-10. Center of a circle through three points 36
Figure 2-11. A virtual center of rotation that changes in real time 38
Figure 2-12. Architecture of the simulator consisting of a path planning and tracking client 40
Figure 2-13. View of the 3D virtual tractor following the desired path 40
Figure 2-14. Reference path for implement based path-tracking in the simulator 42
Figure 2-15. Curved path with gradual curves (a) and steep curves (b) for simulator testing 43
Figure 2-16. View of autonomous tractor (TX853, TYM) 45
Figure 2-17. View of autonomous tractor inside(a), and Raspberry Pi 4 using for navigation controller PC(b) 46
Figure 2-18. (a) GNSS system used in this study and (b) GPS Antenna 48
Figure 2-19. Test field for full path 51
Figure 2-20. Guidance lines for path generation by manual driving 52
Figure 2-21. Inner-operating path for test 52
Figure 3-1. Path for path-tracking algorithm factor analysis 54
Figure 3-2. Results of Tractor based path-tracking and Implement based path-tracking in the simulator 56
Figure 3-3. Tractor center based path-tracking's implement tracjectory 57
Figure 3-4. Implement center based path-tracking's implement trajectory 58
Figure 3-5. Sharp curve driving results of path-tracking without curvature applied (a) with curvature applied (b) 60
Figure 3-6. Gradual curve driving results of path-tracking without curvature applied (a) with curvature applied (b) 62
Figure 3-7. Simulator slope environment 63
Figure 3-8. Conditions of ridge plowing applied to the this study 64
Figure 3-9. Inner-operating path for simulator test 65
Figure 3-10. Inner-operating path driving result of path-tracking without applying curvature (2km/h) 67
Figure 3-11. Inner-operating path driving result of path-tracking without applying curvature (2km/h) 68
Figure 3-12. Inner-operating path driving result of path-tracking without applying curvature (4km/h) 69
Figure 3-13. Inner-operating path driving result of path-tracking without applying curvature (4km/h) 70
Figure 3-14. Inner-operating path driving result of path-tracking without applying curvature (6km/h) 71
Figure 3-15. Inner-operating path driving result of path-tracking with applying curvature (6km/h) 72
Figure 3-16. Inner-operating path for validation the path-tracking algorithm 73
Figure 3-17. Agricultural operating machine position RMSE for curvature of each line for line 1 to line 10 75
Figure 3-18. Heading error in the 7th line when driving the round operating[이미지참조] 75
Figure 3-19. Implement lateral deviation in 7th line when driving the round operating[이미지참조] 76
Figure 3-20. Round operating path driving result of path-tracking without applying curvature 77
Figure 3-21. Round operating path driving result of path-tracking with applying curvature 78