The KU-FR01 is designed at the Kyoto University Graduate School of Agriculture, JAPAN
Contact: Michihisa Iida
Members of our team are two graduate students and an associate professor in
Kyoto University, Japan. A robot developed to entry the Field Robot Event 2007
is 4-wheel-driven by an electric motor. Dimension of the robot is 360 mm in
length, 230mm in width and 3.0 kg in weigh. The robot consists of a main
micro-computer (SH2/7045F, Resesas Technology Corp.) for control, five infrared
distance measuring sensors (GP2D12, Sharp Corp., hereinafter IRDMS), a gyro
sensor (KRG-3, Kondo Kagaku Co., Ltd.), a pulse generator for detecting
rotational speed of rear propeller shaft and so on. A vision system for
detecting yellow golf balls is not installed on the robot, as it has been
developing now and has not been completed yet. Therefore, the robot traces the
crop row of maize while measuring the distance between robot and crop using
IRDMS. Total traveling distance is determined by calculating the sum of pulses
by the pulse generator. When the robot turns at headland, it uses the gyro
sensor to obtain the yaw rate of the robot. However, as the output signal of the
gyro sensor includes noise, it is difficult to turn at the headland precisely.
So, the filtering method was adapted to determine the yaw rate of the robot.
Moreover, limit of the turning time was adjusted in advance for reliable turning
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