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학술지
과수원 환경에서의 방제기 무인주행 기술 개발
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- 발행일
- 202012
- 출처
- 대한임베디드공학회논문지, v.15 no.6, pp.269-279
- ISSN
- 1975-5066
- 출판사
- 대한임베디드공학회
- 협약과제
- 20HS1400, 노동환경 개선을 위한 로봇 작업지능 핵심기술 개발, 유원필
- 초록
- This paper presents the design and implementation of embedded systems and autonomous path generation for autonomous speed sprayer. Autonomous Orchard Systems can be divided into embedded controller and path generation module. Embedded controller receives analog sensor data, on/off switch data and control linear actuator, break, clutch and steering module. In path generation part, we get 3D cloud point using Velodyne VLP16 LIDAR sensor and process the point cloud to generate maps, do localization, generate driving path. Then, it finally generates velocity and rotation angle in real time, and sends the data to embedded controller. Embedded controller controls steering wheel based on the received data. The developed autonomous speed sprayer is verified in test-bed with apple tree-shaped artworks.
- KSP 제안 키워드
- Apple tree, Cloud point, Embedded Controller, Embedded system, LiDAR Sensor, Path generation, Point clouds, Real-Time, Steering Wheel, Test-bed, Tree-shaped