2019年11月11日
圃場における自律走行を目的としたRGB-Dセンサによる畝のロバストな認識法および制御系の提案
第62回自動制御連合講演会
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プレプリント・著者最終稿
回数 : 488
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- 記述言語
- 日本語
- 会議種別
- 口頭発表（一般）
- 主催者
- JSME/SICE
- 開催地
- Sapporo, Japan
In this paper, we propose a robust ridge detection method for autonomous navigation
of a mobile robot using RGB-D sensor in agricultural fields. In this system, the ridge centerline is
estimated from the depth images taken by the RGB-D sensor using the least square method. We
propose an autonomous driving system utilizing digital optimal control regulator for high-precision
motion and robust recognition of ridge features.
of a mobile robot using RGB-D sensor in agricultural fields. In this system, the ridge centerline is
estimated from the depth images taken by the RGB-D sensor using the least square method. We
propose an autonomous driving system utilizing digital optimal control regulator for high-precision
motion and robust recognition of ridge features.