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

Volume

2

fYear

2001

fDate

2001

Firstpage

674

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976247

Filename

976247