Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture

This paper focuses on a unique articulated robot architecture for precision agriculture to develop an autonomous driving system for its reverse motion. This driving system employs a path planner based on Dubins path to generate an optimal trajectory which has to be tracked by a path following routine based on the pure pursuit algorithm while a controller ensures the stability of the vehicle. This control system has been successfully tested and assessed using kinematic and dynamic models of the rover.