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Rejection of sliding effects in car like robot control: application to farm vehicle guidance using a single RTK GPS sensor

Abstract : A very accurate vehicle guidance is required in numerous agricultural applications, as seed-ing, spraying, row cropping,. .. Accuracy in vehicle localization can be obtained in realtime from a RTK GPS sensor. Several control laws, relying on this sensor , have been previously designed and provide satisfactory results as long as vehicles do not slide. However , sliding has to occur in agricultural tasks (slop-ing fields, curves on a wet land,. . .). The challenge addressed in this paper is to preserve vehicle guidance accuracy in such situations. A nonlinear adap-tive control law is here designed. Simulation results and field experiments, demonstrating the capabilities of that control scheme, are reported and discussed.
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https://hal.inria.fr/hal-02466492
Contributor : Philippe Martinet <>
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R. Lenain, B. Thuilot, C. Cariou, P. Martinet. Rejection of sliding effects in car like robot control: application to farm vehicle guidance using a single RTK GPS sensor. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2003, Las Vegas, Ethiopia. pp.3811-3816, ⟨10.1109/IROS.2003.1249748⟩. ⟨hal-02466492⟩

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