Uneven Terrain Mapping Using an Instrumented Reconfigurable Vineyard Harvester
Résumé
This paper presents the data collection used for mapping an uneven terrain by a vineyard harvester. This study is a part of a more general design study of safety survey methods for all-terrains vehicles whose final demonstrator is the presented machine. In this research program, the first mapping goal consists of build a numerical model of the terrain from a cloud of points. This map is useful to calibrate dynamic models and simulators of vehicles. Further, in exploitation, it will be possible to use this map to forecast stability criteria and plan safe actions. The method uses the dynamically reconfigurable vineyard harvester as a sensor. The proposed method is applied on a collection of experiments. After presenting the vehicle and its instrumentation, the method of identification of the contact points between the tractor and the terrain is detailed. Finally, the method is validated using the redundancy contained in the data set.