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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    Title :

    Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture


    Additional title:

    Mechan. Machine Science



    Conference:

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



    Publication date :

    2022-04-23


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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