This paper presents an autonomous guidance system of wheeled tractor-like-robot on slope terrain. A neural network (NN) vehicle model was developed to represent the input-output relationship of vehicle motion on slope. The model was trained using Back Propagation algorithm. A cost function was also designed. Genetic algorithms were used to search the optimal steering values for different combination of lateral and heading deviations. Based on those values of the optimal steering, a NN-based steering controller model was developed to generalize the optimal steering for different land-inclination. Autonomous travel tests were conducted with a prototype test tractor along predetermined rectangular path on 15 deg of angle sloping land. The tractor could precisely follow the path. The mean and standard deviation of offsets along four linear directions of the rectangular path were 0.058 m and 0.063 m respectively, which are insignificant for tractor motion on agricultural farms.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Neural network based steering controller for tractor-like robot


    Beteiligte:
    Ashraf, M.A. (Autor:in) / Torisu, R. (Autor:in)


    Erscheinungsdatum :

    2008


    Format / Umfang :

    13 Seiten, 7 Bilder, 1 Tabelle, 12 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Tractor steering method and tractor

    TAN LONGLI / SHE LINGJUAN / FU LING et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Hydraulic steering tractor

    WANG XINGHONG / PAN DEYONG | Europäisches Patentamt | 2015

    Freier Zugriff

    Tractor steering column

    TANG ZHIYONG / WANG MIAO / CHEN KELIN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Automatic tractor steering

    Liljedahl, L.A. / Strait, J. | Engineering Index Backfile | 1962


    Tractor front wheel steering system and tractor

    GUO PENGPENG / TAN HONGYANG / SUN WENYONG et al. | Europäisches Patentamt | 2025

    Freier Zugriff