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.

Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture / Botta, A.; Moreno, E.; Baglieri, L.; Colucci, G.; Tagliavini, L.; Quaglia, G.. - STAMPA. - 120:(2022), pp. 412-419. ((Intervento presentato al convegno 31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022 tenutosi a Klagenfurt am Wörthersee (AT) nel June 8ꟷ10, 2022 [10.1007/978-3-031-04870-8_48].

Autonomous Driving System for Reversing an Articulated Rover for Precision Agriculture

Botta A.;Colucci G.;Tagliavini L.;Quaglia G.
2022

Abstract

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.
978-3-031-04869-2
978-3-031-04870-8
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11583/2964014