AUTOMATIC GUIDANCE OF FARM VEHICLES IN PRESENCE OF SLIDING EFFECTS A SCIENTIFIC REPORT FOR THE POST-DOC RESEARCH PROJECT OF ALL-TERRAIN AUTONOMOUS VEHICLE CONTROL (original) (raw)
High-precision autofarming is rapidly becoming a reality with the requirements of agricultural applications. Lots of research works have been focused on the automatic guidance control of farm vehicles, satisfactory results have been reported under the assumption that vehicles move without sliding. Realistic paths that farm vehicles can track successfully include not only rows but also arcs and curves. But unfortunately the pure rolling constraints are not always satisfied especially in agriculture applications where the working conditions are rough and not expectable. A possible solution would be to close the feedback loop using exteroceptive sensor measurements. Thanks to GPS and attitude sensors, vehicle positions and velocities can be obtained by absolute coordinates measurements regardless of sliding. Hence the aim of this work is to design anti-sliding controllers for all-terrain autonomous farm vehicles relying on GPS measurements.
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