Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands

E. Flécher, A. Durand-Petiteville, F. Gouaisbaut, V. Cadenat, T. Sentenac, S. Vougioukas

Abstract

This paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. The main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. Then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. These controllers are based on an input to output linearization and proved to be very efficient on simulations.

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Paper Citation


in Harvard Style

Flécher E., Durand-Petiteville A., Gouaisbaut F., Cadenat V., Sentenac T. and Vougioukas S. (2019). Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 355-362. DOI: 10.5220/0007918803550362


in Bibtex Style

@conference{icinco19,
author={E. Flécher and A. Durand-Petiteville and F. Gouaisbaut and V. Cadenat and T. Sentenac and S. Vougioukas},
title={Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={355-362},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007918803550362},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands
SN - 978-989-758-380-3
AU - Flécher E.
AU - Durand-Petiteville A.
AU - Gouaisbaut F.
AU - Cadenat V.
AU - Sentenac T.
AU - Vougioukas S.
PY - 2019
SP - 355
EP - 362
DO - 10.5220/0007918803550362