Development of autonomous navigation system for rice transplanter

作     者：Xiang Yin Juan Du Noboru Noguchi Tengxiang Yang Chengqian Jin 

作者机构：School of Agricultural Engineering and Food ScienceShandong University of TechnologyZibo 255000China Research Faculty of AgricultureHokkaido UniversityKita 9 Nishi 9Kita-kuSapporo 060-8589Japan Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural AffairsNanjing 210014China 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2018年第11卷第6期

页      面：89-94页

核心收录：

学科分类：0710[理学-生物学] 0810[工学-信息与通信工程] 09[农学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0901[农学-作物学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：This research was financially supported by National Natural Science Foundation of China(No.31501230) Shandong Province Natural Science Foundation of China for Youths(No.ZR2014CQ058) the National Key Research and Development Program of China Sub-project(No.2017YFD0700405) Shandong Province Science and Technology Planning Project of Higher Education(No.J17KA145). 

主　　题：autonomous navigation rice transplanter sensor fusion headland turning 

摘      要：Rice transplanting requires the operator to manipulate the rice transplanter in straight trajectories.Various markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous path,which are extremely boring in terms of large-scale fields.The objective of this research was to develop an autonomous navigation system that automatically guided a rice transplanter working along predetermined paths in the field.The rice transplanter used in this research was commercially available and originally manually-operated.An automatic manipulating system was developed instead of manual functions including steering,stop,going forward and reverse.A sensor fusion algorithm was adopted to integrate measurements of the Real-Time Kinematic Global Navigation Satellite System(RTK-GNSS)and Inertial Measurement Unit(IMU),and calculate the absolute moving direction under the UTM coordinate system.A headland turning control method was proposed to ensure a robust turning process considering that the rice transplanter featured a small turning radius and a relatively large slip rate at extreme steering angles.Experiments were designed and conducted to verify the performance of the newly developed autonomous navigation system.Results showed that both lateral and heading errors were less than 8 cm and 3 degrees,respectively,in terms of following straight paths.And headland turns were robustly executed according to the required pattern.