Field mobile robot navigated by RTK-GPS and FOG (Part 3): enhancement of turning accuracy by creating path applied with motion constraints

摘要

Turning algorithm for a robot tractor was developed in this paper. Two types of turning paths were created by applying third-order Spline function forward turning, and switch-back turning. The constraints relating to the tractor characteristics, minimum turning radius and maximum steering speeds, were introduced for creating a feasible turning path. The turning path was recalculated while created path wasn't fulfilled these constraints. Validity of the constraints was confirmed by a computer simulation. The developed algorithm was tested in the field with the robot tractor developed in a previous paper, and it showed higher following accuracy in comparison to conventional method.