TY  - JOUR
PY  - 2002//
TI  - Trajectory control and its application to approach a target: Part I. Development of trajectory control algorithms for an autonomous vehicle
JO  - Transactions of the American Society of Agricultural and Biological Engineers
A1  - Koike, M
A1  - Sutiarso, L.
A1  - Takigawa, Tomihisa
A1  - Hasegawa, Hiroshi
A1  - Kurosaki, H
SP  - 1191
EP  - 1238
VL  - 45
IS  - 4
N2  - 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.<p />
LA  - 
SN  - 0001-2351
UR  - http://dx.doi.org/
ID  - ref1
ER  -