Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles

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...

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Main Authors:	Song, Gong-Bo, 宋公博
Other Authors:	Chang, Chung-Liang
Format:	Others
Language:	zh-TW
Published:	2017
Online Access:	http://ndltd.ncl.edu.tw/handle/wyhy7v

id	ndltd-TW-105NPUS5415005
record_format	oai_dc
spelling	ndltd-TW-105NPUS54150052019-05-16T00:00:25Z http://ndltd.ncl.edu.tw/handle/wyhy7v Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles 機器視覺導引與控制系統於四輪獨立轉向與驅動之農用電動載具設計與開發 Song, Gong-Bo 宋公博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. Chang, Chung-Liang 張仲良 2017 學位論文 ; thesis 126 zh-TW
collection	NDLTD
language	zh-TW
format	Others
sources	NDLTD
description	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.
author2	Chang, Chung-Liang
author_facet	Chang, Chung-Liang Song, Gong-Bo 宋公博
author	Song, Gong-Bo 宋公博
spellingShingle	Song, Gong-Bo 宋公博 Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
author_sort	Song, Gong-Bo
title	Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
title_short	Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
title_full	Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
title_fullStr	Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
title_full_unstemmed	Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
title_sort	study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles
publishDate	2017
url	http://ndltd.ncl.edu.tw/handle/wyhy7v
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Study of vision-based path guidance and control system for four-wheeled steering/drive agricultural electric vehicles

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