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Journal Article

Citation

Takigawa T, Sutiarso L, Koike M, Kurosaki H, Hasegawa H. Trans. ASAE/ASABE 2002; 45(4): 1191-1238.

Copyright

(Copyright © 2002, American Society of Agricultural and Biological Engineers)

DOI

unavailable

PMID

unavailable

Abstract

A control method for autonomous vehicles was developed to steer the vehicle to a given target point. Since four-wheeled vehicles have constraints known as nonholonomic constraints, a nonlinear control theory was applied to generate a trajectory that would permit a vehicle to run from a starting point to its goal within these constraints by tracking it. The method was extended to turns exceeding 90° by deriving a trajectory generation method using polar coordinates. The accuracy of the control was examined by simulation and field experiments. This accurate trajectory-tracing technology can be used to fully automate agricultural operations. Since the proposed control algorithm was an open-loop control, disturbances such as wheel slippage caused navigation error. To minimize error, feedback terms were added by linearizing the vehicle's kinematic equations around a nominal trajectory generated with the open-loop algorithm.

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