Adaptive and predictive non linear control for sliding vehicle guidance: application to trajectory tracking of farm vehicles relying on a single RTK GPS - INRAE - Institut national de recherche pour l’agriculture, l’alimentation et l’environnement Accéder directement au contenu
Communication Dans Un Congrès Année : 2004

Adaptive and predictive non linear control for sliding vehicle guidance: application to trajectory tracking of farm vehicles relying on a single RTK GPS

Résumé

When designing an accurate automated guidance vehicle system, a major problem is sliding and pseudo-sliding effects. It is especially the case in agricultural applications, where a five centimeters accuracy with respects to the desired trajectory is required , even if vehicles move on a slippery ground. Previous works have established that RTK GPS was a very suitable sensor to achieve automated guidance with such a high precision: several contril laws have been designed for vehicles aquipped with that sensor, and provide the expected guidance accuracy as long as vehicles do not slide. Further control developments have been previously proposed to take sliding into account: guidance accuracy in slippery environment has been shown to be preserved, except trasiently at beginning/end of curves, ...In this paper, design of such a control law is first recalled and discussed. Model Predictive Control method is then applied in order to preserve guidance accuracy even during these transitions. Finally, the global control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full scale experiments.

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Dates et versions

hal-02583733 , version 1 (14-05-2020)

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R. Lenain, B. Thuilot, Christophe Cariou, P. Martinet. Adaptive and predictive non linear control for sliding vehicle guidance: application to trajectory tracking of farm vehicles relying on a single RTK GPS. IEEE/RSJ International conference on Intelligent Robots and Systems (IROS),Sendai -JPN,28 september-2 October 2004, 2004, pp.6. ⟨hal-02583733⟩
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