Basic study on mobile robot in field furrow (2nd report, method of path tracking on 3D terrain using inclination angle of robot)

摘要

We describe a method of path tracking on 3D terrain using information of inclination of a robot. We modelled 3D terrain between two ridges based on measured shapes, and we made a winding desired path on the lowest portion of the field furrow. We have proposed a new method in which the rolling angle of the robot and its variation are used to track the desired path in real time. In this method, information of the desired path can be given to the robot as the rolling angle and its variation, and the robot can recognize deviations in its position and direction using rolling angle and its variation.