| Summary: | 碩士 === 國立屏東科技大學 === 生物機電工程系所 === 105 === In this study, a four-wheeled independent driving and steering (4WIS-4WID) agricultural vehicle is proposed to develop an autonomous vision-based guidance and control method which in implemented in embedded Robot Operating System (ROS). The center of gravity (COG) image processing, fuzzy logic inference, and proportion-integration-differentiation (PID) motion control method is integrated to perform straight-line travelling, headland turning, and zero-radius turning for agricultural vehicle. The experiments are conducted indoor and outdoor field environment. Meanwhile, a multi- antenna array-based global navigation satellite system (GNSS) receiver is utilized to record the navigation route and attitude of vehicle. Finally, the performance analysis is evaluated in the thesis.
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