This paper focuses on a unique articulated robot architecture for precision agriculture to develop an autonomous driving system for its reverse motion. This driving system employs a path planner based on Dubins path to generate an optimal trajectory which has to be tracked by a path following routine based on the pure pursuit algorithm while a controller ensures the stability of the vehicle. This control system has been successfully tested and assessed using kinematic and dynamic models of the rover.
Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 2020
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