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Automatic guidance of a farm tractor along curved paths, using a unique CP-DGPS

Abstract : Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. In this paper, we investigate the possibility of achieving this task with a CP-DGPS as the unique sensor. The vehicle heading is derived according to a Kalman state reconstructor, and a nonlin-ear velocity independent control law is designed, relying on chained systems properties. Field experiments, demonstrating the capabilities of our guidance system, are reported and discussed.
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https://hal.inria.fr/hal-02466214
Contributor : Philippe Martinet <>
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Benoît Thuilot, Christophe Cariou, Lionel Cordesses, Philippe Martinet. Automatic guidance of a farm tractor along curved paths, using a unique CP-DGPS. RSJ/IEEE International Conference on Intelligent Robots and Systems, Nov 2001, Maui, France. pp.674-679, ⟨10.1109/IROS.2001.976247⟩. ⟨hal-02466214⟩

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