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Journal Articles Autonomous Robots Year : 2002

Automatic Guidance of a Farm Tractor Relying on a Single CP-DGPS

Abstract

Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. In this paper, we investigate the possibility of achieving this task with a CP-DGPS as the unique sensor. The vehicle heading is derived according to a Kalman state reconstructor, and a nonlinear velocity independent control law is designed, relying on chained systems properties. Field experiments, demonstrating the capabilities of our guidance system, are reported and discussed.
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Dates and versions

hal-02466250 , version 1 (04-02-2020)

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B. Thuilot, C. Cariou, P. Martinet, M. Berducat. Automatic Guidance of a Farm Tractor Relying on a Single CP-DGPS. Autonomous Robots, 2002, 13 (1), pp.53-71. ⟨10.1023/A:1015678121948⟩. ⟨hal-02466250⟩
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