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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.
Cited literature [11 references]
https://hal.inria.fr/hal-02466214
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 12:53:56 PM
Last modification on : Wednesday, February 24, 2021 - 4:16:11 PM
Long-term archiving on: : Tuesday, May 5, 2020 - 3:16:13 PM
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 12:53:56 PM
Last modification on : Wednesday, February 24, 2021 - 4:16:11 PM
Long-term archiving on: : Tuesday, May 5, 2020 - 3:16:13 PM
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iros01-lionel.pdf
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