Skip to Main content Skip to Navigation
Journal articles

Automatic Guidance of a Farm Tractor Relying on a Single 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 nonlinear velocity independent control law is designed, relying on chained systems properties. Field experiments, demonstrating the capabilities of our guidance system, are reported and discussed.
Document type :
Journal articles
Complete list of metadata

Cited literature [19 references]  Display  Hide  Download
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 1:21:39 PM
Last modification on : Tuesday, April 20, 2021 - 11:20:06 AM
Long-term archiving on: : Tuesday, May 5, 2020 - 3:37:26 PM


Files produced by the author(s)



B. Thuilot, C. Cariou, P. Martinet, M. Berducat. Automatic Guidance of a Farm Tractor Relying on a Single CP-DGPS. Autonomous Robots, Springer Verlag, 2002, 13 (1), pp.53-71. ⟨10.1023/A:1015678121948⟩. ⟨hal-02466250⟩



Record views


Files downloads