Automatic guidance of a four-wheel-steering mobile robot for accurate field operations

Journal of Field Robotics

Volumn 26, Issue 6-7, 2009, Pages 504-518

  Cariou, Christophe ^a   Lenain, Roland ^a   Thuilot, Benoit ^b   Berducat, Michel ^a  

^a CEMAGREF   (France)

^b LASMEA   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ANGULAR DEVIATIONS; ANGULAR ERRORS; ATTRACTIVE SOLUTIONS; AUTOMATIC GUIDANCE; AUTONOMOUS VEHICLES; BACKSTEPPING APPROACH; CONTROL ALGORITHMS; ENVIRONMENTAL PRESERVATION; FARM PRODUCTION; FIELD OPERATION; FOUR-WHEEL STEERING (4WS); FOUR-WHEEL-STEERING; FRONT STEERING; HIGH-PRECISION; LATERAL DEVIATION; PATH TRACKING; PATH TRACKING CONTROL; PREDICTIVE ALGORITHMS; ROBOTIC DEVICES; STEERING ACTUATORS; STEERING SYSTEMS; TERRAIN CONDITIONS; TOOLS AND METHODS; WORLD POPULATION;

AGRICULTURAL IMPLEMENTS; AUTOMOBILE STEERING EQUIPMENT; BACKSTEPPING; MOBILE ROBOTS; NAVIGATION; ROBOTICS; TRACKING (POSITION); WHEELS;

STEERING;

EID: 68049108107     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.20282     Document Type: Article

References (28)

1. Bakker, E., Nyborg, L., & Pacejka, H. (1987). Tyre modeling for use in vehicle dynamics studies (pp. 2190-2204). Warrendale, PA: Society of Automotive Engineers.
2. Blackmore, S., Stout, B., Wang, M., & Runov, B. (2005, June). Robotic agriculture - The future of agricultural mechanisation? In 5th European Conference on Precision Agriculture, Uppsala, Sweden (pp. 621-628).
3. Bruinsma, J. (2003). World agriculture: Towards 2015/2030. An FAO perspective (Earth Sciences Tech. Rep.). London: Food and Agriculture Organisation.
4. Bushnell, L., Tilbury, D., & Sastry, S. (1992). Steering three-input chained form nonholonomic systems using sinusoids: The firetruck example (Tech. Rep. UCB/ERL M92/107). Berkeley: EECS Department, University of California.
5. Eaton, R., Katupitiya, J., Siew, K. W., & Dang, K. S. (2008, April). Precision guidance of agricultural tractors for autonomous farming. In 2nd Annual IEEE Systems Conference, 2008, Montreal, Canada (pp. 1-8).
6. Hao, F., Lenain, R., Thuilot, B., & Martinet, P. (2005, April). Robust adaptive control of automatic guidance of farm vehicles in the presence of sliding. In IEEE International Conference on Robotics and Automation, Barcelona, Spain (pp. 3113-3118).
7. Hirano, Y., & Fukatani, K. (1997). Development of robust active rear steering control for automobile. JSME International Journal, 40(2), 231-237.
8. Keicher, R., & Seufert, H. (2000). Automatic guidance for agricultural vehicles in Europe. Computers and Electronics in Agriculture, 25(1), 169-194.
9. Leith, D. J., Leithead, W. E., & Vilaplana, M. (2005, December). Robust lateral controller for 4-wheel steer cars with actuator constraints. In 44th IEEE Conference on Decision and Control, Seville, Spain (pp. 5101-5106).
10. Lenain, R., Thuilot, B., Cariou, C., & Martinet, P. (2004, September). Adaptive and predictive non linear control for sliding vehicle guidance: Application to trajectory tracking of farm vehicles relying on a single RTK-GPS. In International Conference on Intelligent Robots and Systems, IROS, Sendai, Japan (pp. 455-460).
11. Lenain, R., Thuilot, B., Cariou, C., & Martinet, P. (2006a). High accuracy path tracking for vehicles in presence of sliding. application to farm vehicle automatic guidance for agricultural tasks. Autonomous Robots, 21(1), 79-97.
12. Lenain, R., Thuilot, B., Cariou, C., & Martinet, P. (2006b, May). Sideslip angles observers for vehicle guidance in sliding conditions: Application to agricultural path tracking tasks. In IEEE Conference on Robotics and Automation, Orlando, FL (pp. 3183-3188).
13. Miller, M. A., Steward, B. L., & Westphalen, M. L. (2004). Effects of multi-mode four-wheel steering on sprayer machine performance. Transactions of the ASAE, 47(2), 385-395.
14. Noguchi, N., Will, J., Reid, J., & Zhang, Q. (2004). Development of a master-slave robot system for farm operations. Computers and Electronics in Agriculture, 44, 1-19.
15. Pedersen, S., Fountas, S., Have, H., & Blackmore, B. (2005, June). Agricultural robots: An economic feasibility study. In Precision Agriculture, Uppsala, Sweden (pp. 589-595).
16. Pota, H., Katupitiya, J., & Eaton, R. (2007, December). Simulation of a tractor-implement model under the influence of lateral disturbances. In 46th IEEE Conference on Decision and Control, 2007, New Orleans, LA (pp. 596-601).
17. Reid, J., Zhang, Q., Noguchi, N., & Dickson, M. (2000). Agricultural automatic guidance research in North America. Computers and Electronics in Agriculture, 25(1), 155-167.
18. Reid, J. F., & Niebuhr, D. G. (2001). Driverless tractors. Ressource, 8(9), 7-8.
19. Richalet, J. (1993). Industrial applications of model based predictive control. Automatica, 29, 1251-1574.
20. Ryu, J.-C., Agrawal, S., & Franch, J. (2008). Motion planning and control of a tractor with a steerable trailer using differential flatness. ASME Transactions, Journal of Computational and Nonlinear Dynamics, 3(3), 031003.
21. Samson, C. (1995). Control of chained systems. Application to path following and time-varying point stabilization of mobile robots. IEEE Transactions on Automatic Control, 40(1), 64-77.
22. Schäfer, H., Proetzsch, M., Braun, T., Koch, J., Schmitz, N., & Berns, K. (2006, April). Ravon - A robust autonomous vehicle for off-road navigation. In European Land Robot Trial - ELROB, Hammelburg, Germany.
23. Slaughter, D. C., Giles, D. K., & Downey, D. (2008). Autonomous robotic weed control systems: A review. Computers and Electronics in Agriculture, 61, 63-78.
24. Stephant, J., Charaza, A., & Meizel, D. (2004). Virtual sensor: Application to vehicle sideslip angle and transversal forces. IEEE Transactions on Industrial Electronics, 53(2), 278-289.
25. Tessier, C., Cariou, C., Debain, C., Chausse, F., Chapuis, R., & Rousset, C. (2006, September). A real-time, multi-sensor architecture for fusion of delayed observations: Application to vehicle localization. In Intelligent Transportation Systems Conference, ITSC, Toronto, Canada (pp. 1316-1321).
26. Thuilot, B. (2002). Commande des systemes non linaires. Lecture Notes on Nonlinear Control. Ecole Nationale Superieure de Techniques Avances.
27. Thuilot, B., Cariou, C., Martinet, P., & Berducat, M. (2002). Automatic guidance of a farm tractor relying on a single CP-DGPS. Autonomous Robots, 13(1), 53-71.
28. Wang, D., & Low, C. B. (2006, October). Modeling skidding and slipping in wheeled mobile robots: Control design perspective. In IEEE International Conference on Intelligent Robots and Systems, Beijing, China (pp. 1867-1872).