Title :
Automatic guidance of a farm tractor along curved paths, using a unique CP-DGPS
Author :
Thuilot, B. ; Cariou, C. ; Cordesses, L. ; Martinet, P.
Author_Institution :
LASMEA, Aubiere, France
Abstract :
Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. We investigate the possibility of achieving this task with CP-DGPS (carrier phase differential GPS) 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
Keywords :
Global Positioning System; Kalman filters; agriculture; control system synthesis; mobile robots; nonlinear control systems; position control; step response; vehicles; CP-DGPS; Kalman state reconstructor; automatic guidance; carrier phase differential GPS; chained systems properties; curved paths; farm tractor; mobile robots; nonlinear control systems; nonlinear velocity independent control law; precision agriculture; vehicle heading; Agricultural machinery; Agriculture; Automatic control; Control systems; Global Positioning System; Kalman filters; Navigation; Nonlinear control systems; Vehicles; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976247
