Development of an Unmanned Surface Vehicle （开发的无人地面车辆）.pdfVIP

Preprints of the 19th World Congress The International Federation of Automatic Control Cape Town, South Africa. August 24-29, 2014 Development of an Unmanned Surface Vehicle Platform for Autonomous Navigation in Paddy Field Yufei Liu*. Noboru Noguchi.** Takeshi Yusa*** *Graduate School of Agriculture, Hokkaido University, Kita-9, Kita-ku, Sapporo, Hokkaido 060-8589 Japan (e-mail: liu@bpe.agr.hokudai.ac.jp). **Research Faculty of Agriculture, Hokkaido University, Kita-9, Kita-ku, Sapporo, Hokkaido 060-8589 Japan (Tel: +81.11.706.3847; e-mail: Noguchi@ bpe.agr.hokudai.ac.jp). ***Graduate School of Agriculture, Hokkaido University, Kita-9, Kita-ku, Sapporo, Hokkaido 060-8589 Japan (e-mail: Yusa@bpe.agr.hokudai.ac.jp). Abstract: The objective of this research was to develop an unmanned surface vehicle (USV) platform for autonomous navigation in the paddy field. The surface vehicle used in this research was a radio controlled air propeller vessel that had been modified into an unmanned surface vehicle platform. A GP S compass system was attached to the top of the USV platform as the navigation system to provide the position and heading angle. The USV platform can autonomously navigate to the predefined navigation map. From the GPS trajectory data of the map-based navigation experiment, the in-system root mean square (RMS) lateral error from the target path was observed to be less than 0.45 m, and the in-system