Development of Path Tracking Algorithm and Variable Look-Ahead Distance Algorithm to Improve the Path- Following Performance of Autonomous Tracked Platform for Agriculture
Keywords:
Tracked vehicle, Agricultural robot, Path trackingAbstract
With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on wheel-type platforms. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing pure pursuit algorithm was applied in consideration of the characteristics of the tracked platform. To compensate for the “cutting corner”, which is a disadvantage of the existing pure pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.
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