Sideslip angles observer for vehicle guidance in sliding conditions: application to agricultural path tracking tasks - INRAE - Institut national de recherche pour l’agriculture, l’alimentation et l’environnement Access content directly
Conference Papers Year : 2006

Sideslip angles observer for vehicle guidance in sliding conditions: application to agricultural path tracking tasks

Observateurs d'angles de dérive d'un véhicule en présence de glissement : application à la tâche de suivi de trajectoire en agriculture

Abstract

Automatic devices dedicated to vehicle guidance in off-road conditions are necessarily confronted with sliding phenomenon, since it may considerable damage the accuracy of the following task. Control laws taking explicitly into account such a phenomenon have already been designed in previous work. They can actually improve the guidance accuracy. However, their efficiency is highly dependent on the sliding parameters estimation (since these parameters cannot be provided by a direct measurement). In this paper, an observer-like estimator is designed, providing sideslip angles from a single exteroceptive sensor, namely a Real Time Kinematic GPS (RTK-GPS). Improvements in guidance accuracy, with respect to previous estimation approaches, is demonstrated through full scale experiments, addressing agricultural applications.
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Dates and versions

hal-00094497 , version 1 (14-09-2006)

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Roland Lenain, Benoît Thuilot, Christophe Cariou, Philippe Martinet. Sideslip angles observer for vehicle guidance in sliding conditions: application to agricultural path tracking tasks. Proceedings 2006 IEEE International Conference on Robotics and Automation. ICRA 2006, Orlando,USA, 15-19 May 2006, 2006, Orlando, United States. pp.3183-3188. ⟨hal-00094497⟩
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