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Adaptive Control Method of an Autonomous Tractor for Traveling using a Model of Vehicle Movement

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

Citation:  Pp. 347-356 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10024)
Authors:   Keiich INOUE, Noriyuki MURAKAM, Sumi MIYAURA
Keywords:   Tractor, Automatic guidance, Sensor fusion, Kalman filter, Gyro, GPS

To achieve travel control for an autonomous vehicle, an adaptive steering control method that considers the time delay of a front-wheel hydraulic-steering control system and the vehicle sideslip was investigated by using the Kalman filter and the adaptive control method to model vehicle movement in the field. The method was applied to back-and-forth operation of rotary plowing attached to an autonomous tractor equipped with a hybrid navigation system (FOG and pseudrange C/A code DGPS). The stability of the automatic rotary plow operation was confirmed by the accuracy of offset from the target line, which was within 0.1 m at the work speed of up to 1.5 m/s.

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