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Automatic guidance and operation of agricultural Wide-Span Implement Carrier (WSIC):Kinematic modelling and simulation

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

Citation:  Paper number  131588609,  2013 Kansas City, Missouri, July 21 - July 24, 2013. (doi: @2013
Authors:   Chengming Luo, Ahmad Mohsenimahesh, Claude Laguë
Keywords:   Wide-Span Implement Carrier point-to-point tracking parallel trajectory tracking offset error

Abstract. Over the last two decades, extensive research and development work has been conducted in the field of automatic guidance of agricultural vehicles, such as tractors, self-propelled combines, and other types of agricultural machines. In this paper, an automatic guidance control system was developed for a Wide-Span Implement Carrier (WSIC) used in cranberry production. The structure and working modes of the machine were introduced and tracking problems were defined for both operating modes (mobile, stationary). Point-to-point tracking control and parallel trajectory tracking control algorithms were defined for the stationary and mobile mode of the WSIC respectively. The kinematic model of the control system was derived based on a simple four wheel vehicle bicycle model for each supporting tractor. Control laws were designed based on polar coordinates representations for the stationary mode and on path coordinates expressions for the mobile mode. An additional velocity control was added in the mobile mode for motion synchronization of the two tractors to eliminate the offset error. The effectiveness of the proposed control algorithms were evaluated through various simulations.

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