International Journal of Applied Mathematics and Computer Science - Special Section: Robot Control Theory Cezary Zielinski
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Vector-Field-Orientation Tracking Control for a Mobile Vehicle Disturbed by the Skid-Slip Phenomena
Journal of Intelligent and Robotic Systems
Adaptive control for planar curve tracking under controller uncertainty
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
Computers and Electronics in Agriculture
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When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground.It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.