High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks
High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks
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DOI：
10.1007/s10514-006-7806-4
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发表时间：
2006-08
影响因子：
3.5
通讯作者：
R. Lenain;B. Thuilot;C. Cariou;P. Martinet
中科院分区：
文献类型：
--
作者：
R. Lenain;B. Thuilot;C. Cariou;P. Martinet
在设计一个精确的车辆自动导引系统时，一个主要的问题是滑动和伪滑动效应。在农业应用中尤其如此，尽管车辆在光滑的地面上行驶，但需要相对于所需轨迹的5厘米精度。已经确定，RTK GPS是一种非常合适的传感器，可以实现如此高精度的自动导航：已经为装备有这种传感器的飞行器设计了几种控制律，只要飞行器不滑动，就能提供预期的制导精度。在以前的工作中，已提出进一步的控制发展，以考虑到滑动：在湿滑的环境中的指导精度已被证明是保留，除了短暂的开始/结束的曲线。在本文中，这种控制律的设计首先回顾和讨论。然后应用模型预测控制方法，以便即使在这些曲率过渡期间也保持指导的准确性。最后，实施了总体控制方案，并通过全尺寸实验证明了相对于以前的制导律的改进。
When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground.It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.