Double look-ahead reference point control for autonomous agricultural vehicles

Bodur, Mehmet; Kiani, Ehsan; Hacisevki, Hasan

doi:10.1016/j.biosystemseng.2012.07.005

Cited by 16 publications

(4 citation statements)

References 17 publications

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“…Field tests showed that the maximum path tracking error for straight and curved trajectories at the rated operating speed was less than 3 cm. Bodur et al [85] developed an automatic path tracking system that used two lookahead reference points (2-LARP) to compensate for attenuated oscillations at curvature transitions. They found that the proposed algorithm reduced the peak lateral error to 20% of the error of the 1-LARP controller, significantly reducing lateral tracking deviation.…”

Section: Other Novel Approachesmentioning

confidence: 99%

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Qu,

Zhang,

Qin

et al. 2024

Machines

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The development of unmanned agricultural tractors (UAT) represents a significant step towards intelligent agricultural equipment. UAT technology is expected to lighten the workload of laborers and enhance the accuracy and efficiency of mechanized operations. Through the investigation of 123 relevant studies in the literature published in recent years, this article reviews three aspects of autonomous navigation technologies for UATs: perception, path planning and tracking, and motion control. The advantages and deficiencies of these technologies in the context of UATs are clarified by analyzing technical principles and the status of current research. We conduct summaries and analyses of existing unmanned navigation solutions for different application scenarios in order to identify current bottleneck issues. Based on the analysis of the applicability of autonomous navigation technologies in UATs, it can be seen that fruitful research progress has been achieved. The review also summarizes the common problems seen in current UAT technologies. The application of research to the sharing and integrating of multi-source data for autonomous navigation has so far been relatively weak. There is an urgent need for high-precision and high-stability sensing equipment. The universality of path planning methods and the efficiency and precision of path tracking need to be improved, and it is also necessary to develop highly reliable electrical control modules to enhance motion control performance. Overall, advanced sensors, high-performance intelligent algorithms, and reliable electrical control hardware are key factors in promoting the development of UAT technology.

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Section: Other Novel Approachesmentioning

confidence: 99%

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Qu,

Zhang,

Qin

et al. 2024

Machines

View full text Add to dashboard Cite

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“…Usually, kinematic models neglect the s i d e -s l i p o f t h e t i r e s a n d t h e d y n a m i c s o f t h e s t e e r i n g actuator [7][8][9], they are suitable for object with low velocity. Dynamic models are developed based on known, estimated or identified parameters, and degrade the generality of the models [10][11][12], they are suitable for the object with high accelerations and velocities.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Based on Adaptive Sliding Mode Control for Agricultural Tractor

Yin

Wang

et al. 2020

IEEE Access

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Trajectory tracking is one of the key technologies for high-precision agriculture and has been the research focus by a large number of academics. In order to design a simple trajectory tracking control scheme, an adaptive sliding mode control based on lateral deviation is proposed. To reduce the chattering phenomenon, an adjustable parameter associated with the sliding surface and system error is introduced, by which the forward gain value can be regulated with the state change. According to the established tractor model, the desired front wheel angle can be obtained as the output of the sliding mode controller. A modified Smith predictor structure based two degree of freedom control scheme is designed to follow the desired front wheel angle. The effectiveness of the designed trajectory tracking control system is demonstrated by simulations, especially the performance of preventing chattering phenomenon.

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“…A qualified automatic steering system requires high control accuracy, good reliability, and fast response [9][10][11][12]. Electrohydraulic steering is used for the most automatic steering tractors, and it is becoming common practice to provide large forces to actuate steering mechanism by a hydraulic cylinder governed by a directional valve.…”

Section: Introductionmentioning

confidence: 99%

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Yin

Sun

et al. 2018

Journal of Electrical and Computer Engineering

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The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.

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Double look-ahead reference point control for autonomous agricultural vehicles

Cited by 16 publications

References 17 publications

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Applications of Autonomous Navigation Technologies for Unmanned Agricultural Tractors: A Review

Trajectory Tracking Based on Adaptive Sliding Mode Control for Agricultural Tractor

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

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