Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year :

Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland

Abstract

This paper addresses the problem of path generation and motion control for the autonomous maneuvers of a farm vehicle 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 presented 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.
No file

Dates and versions

hal-02468615 , version 1 (06-02-2020)

Identifiers

Cite

Christophe Cariou, Roland Lenain, Benoit Thuilot, Philippe Martinet. Motion planner and lateral-longitudinal controllers for autonomous maneuvers of a farm vehicle in headland. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St Louis, MO, United States. pp.5782-5787, ⟨10.1109/IROS.2009.5354722⟩. ⟨hal-02468615⟩
31 View
0 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More