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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.
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https://hal.inria.fr/hal-02466250
Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Tuesday, February 4, 2020 - 1:21:39 PM
Last modification on : Thursday, March 3, 2022 - 8:08:01 PM
Long-term archiving on: : Tuesday, May 5, 2020 - 3:37:26 PM

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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⟩

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