【摘 要】
：
Rural labor is becoming gradually insufficient because farm population decline and population aging problem is being emerged.Therefore, it is necessary for
【机 构】
：
Dept.of Biosystems Machinery Engineering, Chungnam National University, Daejeon, Republic of Korea
【出 处】
：
The Sixth Asian Conference on Precision Agriculture (第六届亚洲精准
论文部分内容阅读
Rural labor is becoming gradually insufficient because farm population decline and population aging problem is being emerged.Therefore, it is necessary for the study about unmanned technology to overcome rural labor deficiency.These days research on unmanned autonomous tractor is carried out through most field test.However, tractor field test requires expensive and long time consuming.Therefore, this study was to develop simulation platform for driving performance evaluation of unmanned tractor.Simulation was used to simulate the Carsim widely used test field of unmanned vehicles.Simulation was developed to enable the autonomous driving performance evaluation according to driving path and field condition.Driving path was set to straight and curved path.Field conditions were considered that the slip was generated according to soil moisture-content.As a result of simulation, error of the tire force, tire kinematics and autonomous driving by slip at the curved path have been shown larger than straight path.For these reason, soil moisture-content increases, the error appears larger, it showed the largest error value at the curved path of the highest soil moisture-content.Therefore, when developing the autonomous driving algorithm of curved path is determined to be a robust control considering the influence of soil slip.
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