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The Development of the Autonomous Tractor with Steering Controller Applied by Optimal Control

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Pp. 367-373 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10026)
Authors:   Michio KISE, Noboru NOGUCHI, Kazunobu ISHII, Hideo TERAO
Keywords:   Steering control, Linear optimal regulator, Curved path guidance, High-speed guidance

This paper reported about new steering control algorithm for an autonomous vehicle. The steering controller developed in previous research was designed to guide along with a straight path, and it didn’t confirm the accuracy of following a curved path. But the robot tractor has to have a function to travel along any curved path precisely to achieve the farm management by the robot. The steering control algorithm applied a linear optimal regulator was developed and tested at a field with some curved paths. The developed system showed the outstanding guidance performance comparing to a conventional method which used a PI controller on all types of the paths including a 90 degree turn and a sinusoidal paths. In addition, the developed controller could perform high-speed guidance at 3.0m/s more precisely than the conventional PI controller.

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