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Communication Dans Un Congrès Année : 2010

Maneuvers automation for agricultural vehicle in headland

Résumé

This paper addresses the problem of path generation and motion control for the autonomous maneuvers of agricultural vehicle in headland. A reverse turn planner is firstly presented, based on primitives connected together to easily generate the reference motion. Next, the steering and speed control algorithms are considered. To perform accurate path following, the sliding conditions are taken into account with a kinematic model extended with sliding parameters. In addition, predictive actions are developed to anticipate for vehicle steering and speed variations. The capabilities of the proposed algorithms are finally investigated through full-scale experiments. Fish-tail maneuvers are autonomously performed with an experimental mobile robot, and promising results are reported during reverse turn maneuvers with a vehicle-trailer system.
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Dates et versions

hal-00523407 , version 1 (05-10-2010)

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C. Cariou, R. Lenain, Benoît Thuilot, T. Humbert, M. Berducat. Maneuvers automation for agricultural vehicle in headland. AgEng 2010, International Conference on Agricultural Engineering, Sep 2010, Clermont-Ferrand, France. 10 p. ⟨hal-00523407⟩
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