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.


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    Titel :

    Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Botta, Andrea (Autor:in) / Moreno, Eleonora (Autor:in) / Baglieri, Lorenzo (Autor:in) / Colucci, Giovanni (Autor:in) / Tagliavini, Luigi (Autor:in) / Quaglia, Giuseppe (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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