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Authors: Christophe Cariou 1 ; Roland Lenain 1 ; Michel Berducat 1 and Benoit Thuilot 2

Affiliations: 1 Cemagref, France ; 2 Clermont Université, Université Blaise Pascal, France

ISBN: 978-989-8425-01-0

Keyword(s): Guidance system, Mobile robot, Path planning, Motion control, Agriculture.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper addresses the problem of path generation and motion control for the autonomous maneuvers of a farm vehicle with a trailed implement in headland. A reverse turn planner is firstly investigated, based on primitives connected together. Then, both steering and speed control algorithms are considered. When the system is driving forward, the control algorithms are based on a kinematic model extended with additional sliding parameters and on model predictive control approaches. When the system is driving backward, two different steering controllers are proposed and compared. Real world experiments have been carried out with an experimental trailer hitched to a mobile robot. At the end of each row, the reverse turn is automatically generated to connect the next reference track, and the maneuvers are autonomously performed. Reported experiments demonstrate the capabilities of the proposed algorithms.

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Paper citation in several formats:
Cariou C.; Lenain R.; Berducat M.; Thuilot B. and (2010). AUTONOMOUS MANEUVERS OF A FARM VEHICLE WITH A TRAILED IMPLEMENT IN HEADLAND.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 109-114. DOI: 10.5220/0002875501090114

@conference{icinco10,
author={Christophe Cariou and Roland Lenain and Michel Berducat and Benoit Thuilot},
title={AUTONOMOUS MANEUVERS OF A FARM VEHICLE WITH A TRAILED IMPLEMENT IN HEADLAND},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={109-114},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002875501090114},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AUTONOMOUS MANEUVERS OF A FARM VEHICLE WITH A TRAILED IMPLEMENT IN HEADLAND
SN - 978-989-8425-01-0
AU - Cariou, C.
AU - Lenain, R.
AU - Berducat, M.
AU - Thuilot, B.
PY - 2010
SP - 109
EP - 114
DO - 10.5220/0002875501090114

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