Rejection of sliding effects in car like robot control: application to farm vehicle guidance using a single RTK GPS sensor
نویسندگان
چکیده
A very accurate vehicle guidance is required in numerous agricultural applications, as seeding, 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 (sloping fields, curves on a wet land, . . .). The challenge addressed in this paper is to preserve vehicle guidance accuracy in such situations. A nonlinear adaptive control law is here designed. Simulation results and field experiments, demonstrating the capabilities of that control scheme, are reported and discussed.
منابع مشابه
Adaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملHigh accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks
When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudosliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automat...
متن کاملSolving Path Following Problem for Car-Like Robot in the Presence of Sliding Effect via LMI Formulation
One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...
متن کاملVehicle Automation System Based on Multi-sensor Integration
The purpose of the study is to develop the guidance system by the sensor fusion integration with a machine vision, an RTKGPS and a geometric direction sensor (GDS). The Extended Kalman Filter (EKF) and a statistical method based on twodimensional Probability Density Function are adopted as a fusion integration methodology in this research. To achieve the navigation planner based on sensor fusio...
متن کاملAutonomous Navigation, Guidance and Control of Small 4-wheel Electric Vehicle
In this study, we design autonomous navigation, guidance and control system for small four-wheel ground vehicle. Small and low-accuracy sensors (low-cost GPS, low-accuracy accelerometers) are only used for navigation and control of the UGV. Firstly, INS/GPS composite navigation system is designed to obtain high-accuracy position and velocity of the vehicle by using low-accuracy sensors. Secondl...
متن کامل