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Non-Linear control for car like mobile robots in presence of sliding: Application to guidance of farm vehicles using a single RTK GPS

Abstract : Since Global Navigation Satellite Systems are able to supply very accurate coordinates of a point (about 2 cm with a RTK GPS), such a sensor is very suitable to design vehicle guidance system. It is especially the case in agricultural tasks where a centimeter precision is often required (seeding, spraying, ...). To answer to growing high precision agriculture principle demand, several control laws for automated vehicle guidance relying on this sensor have been developed. Such guidance systems are able to supply an acceptable steering accuracy as long as vehicle does not slide (path tracking on even ground with good adherence properties...), what alas inevitably occurs in agricultural tasks. Several principles are here presented to steer vehicle whatever properties of ground and path to be followed are. In this paper two extended kinematic models with sliding accounted are presented. They allow to describe vehicle dynamics in all guidance conditions. Via these models, new non linear control laws can be designed (depending on model structures), which integrate sliding effects. Their capabilities are investigated through experimental tests.
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https://hal.inria.fr/hal-02467053
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  • HAL Id : hal-02467053, version 1

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Roland Lenain, Benoit Thuilot, Christophe Cariou, Philippe Martinet. Non-Linear control for car like mobile robots in presence of sliding: Application to guidance of farm vehicles using a single RTK GPS. 35th International Symposium on Robotics, ISR'04, Mar 2004, Paris, France. ⟨hal-02467053⟩

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