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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.10 P.1596~1603

http://doi.org/10.1631/jzus.2007.A1596


Path tracking control of autonomous agricultural mobile robots


Author(s):  ZHU Zhong-xiang, CHEN Jun, YOSHIDA Toyofumi, TORISU Ryo, SONG Zheng-he, MAO En-rong

Affiliation(s):  College of Engineering, China Agricultural University, Beijing 100083, China; more

Corresponding email(s):   zhuzhonxiang@cau.edu.cn, gxy15@cau.edu.cn

Key Words:  Headland turning, Path creation, Path-tracking controller, Optimal control, Robot tractor


ZHU Zhong-xiang, CHEN Jun, YOSHIDA Toyofumi, TORISU Ryo, SONG Zheng-he, MAO En-rong. Path tracking control of autonomous agricultural mobile robots[J]. Journal of Zhejiang University Science A, 2007, 8(10): 1596~1603.

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author="ZHU Zhong-xiang, CHEN Jun, YOSHIDA Toyofumi, TORISU Ryo, SONG Zheng-he, MAO En-rong",
journal="Journal of Zhejiang University Science A",
volume="8",
number="10",
pages="1596~1603",
year="2007",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.2007.A1596"
}

%0 Journal Article
%T Path tracking control of autonomous agricultural mobile robots
%A ZHU Zhong-xiang
%A CHEN Jun
%A YOSHIDA Toyofumi
%A TORISU Ryo
%A SONG Zheng-he
%A MAO En-rong
%J Journal of Zhejiang University SCIENCE A
%V 8
%N 10
%P 1596~1603
%@ 1673-565X
%D 2007
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2007.A1596

TY - JOUR
T1 - Path tracking control of autonomous agricultural mobile robots
A1 - ZHU Zhong-xiang
A1 - CHEN Jun
A1 - YOSHIDA Toyofumi
A1 - TORISU Ryo
A1 - SONG Zheng-he
A1 - MAO En-rong
J0 - Journal of Zhejiang University Science A
VL - 8
IS - 10
SP - 1596
EP - 1603
%@ 1673-565X
Y1 - 2007
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.2007.A1596


Abstract: 
In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral deviations being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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