Developing a radio-controlled log skidder with fuzzy logic autonomous control
1995
Edwards, D.B. | Canning, J.R.
This article presents the development of a small, radio-controlled (RC) log skidder and also discusses the results of a preliminary investigation into using fuzzy logic for autonomous control of the skidder. Small skidders can reduce the environmental impact of logging and help improve timber stands. With previous small skidders, the operator walked in front of the skidder and reached back with one hand to operate the controls on a handle. The RC skidder allows the operator to be removed from the immediate vicinity of the skidder, thus making a safer operating environment. Field trials of the RC skidder were conducted and are discussed. A preliminary investigation into using fuzzy logic with ultrasonic sensors for collision avoidance is also presented. A collision avoidance system would be one component in an overall autonomous control system that would allow the RC skidder to follow skid trails without guidance from the operator. A computer simulation is used to model the ultrasonic sensors, and the skidder in a two-dimensional obstacle field. The computer simulations are used with an optimization algorithm to train the fuzzy logic control system.
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