Automatic guidance of a farm tractor relying on a single CP-DGPS

被引：90

作者：

Thuilot, B

Cariou, C

Martinet, P

Berducat, M

机构：

[1] LASMEA, F-63177 Aubiere, France

[2] Cemagref, F-63172 Aubiere, France

来源：

AUTONOMOUS ROBOTS | 2002年 / 13卷 / 01期

关键词：

mobile robots; nonlinear control systems; Kalman state reconstructor; GPS; agriculture;

D O I：

10.1023/A:1015678121948

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. In this paper, we investigate the possibility of achieving this task with a CP-DGPS 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.

引用

页码：53 / 71

页数：19

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