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Automatic guidance of agricultural vehicles in headland: maneuvers generation and motion control

Abstract : This paper addresses the problem of path generation and motion control for the autonomous maneuvers of agricultural vehicles in headland. A reverse turn planner is firstly investigated, based on primitives connected together to easily generate the reference motion. Then, both steering and speed control algorithms are addressed to accurately guide the vehicle. They are based on a kinematic model extended with additional sliding parameters and on model predictive control approaches. Real world experiments have been carried out on a low adherent terrain with an experimental mobile robot. At the end of each row, the reverse turn is automatically generated to connect the next reference track, and the maneuver is autonomously performed by the vehicle. Reported experiments demonstrate the capabilities of the proposed algorithms.
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Conference papers
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https://hal.inrae.fr/hal-02591928
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Submitted on : Friday, May 15, 2020 - 3:38:22 PM
Last modification on : Wednesday, September 28, 2022 - 3:14:25 PM

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  • HAL Id : hal-02591928, version 1
  • IRSTEA : PUB00026434

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Christian Cariou, R. Lenain, B. Thuilot, M. Berducat. Automatic guidance of agricultural vehicles in headland: maneuvers generation and motion control. XXXIII CIOSTA CIGR V Conference 2009, Technology and management to ensure sustainable agriculture, agro-systems, forestry and safety, Jun 2009, Reggio Calabria, Italy. pp.671-675. ⟨hal-02591928⟩

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