Path following studies with an articulated farm vehicle

S. G. McCarthy, S. Pocknee, G. Rains, C. Kvien

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The operation of agricultural field machinery is often considered to be an arduous task performed under difficult conditions. The availability and affordability of advanced technologies has provided sufficient means to allow many repeatable tasks to be performed autonomously within a satisfactory level of precision. An articulated field robot based on a commercially available row crop sprayer vehicle has been developed. Navigation and positioning functions are achieved using a wide-area precision DGPS. Onboard sensors monitor engine, hydraulic, electrical, and control plane parameters. This paper describes the implemented methodology for general path creation and following for an articulated farm vehicle. A robust derivation of 'bang-bang' control signals has been considered. Fundamental maneuvering components have been identified, and are applicable to any movement between configurations of the articulated vehicle. The paper will report the general characteristics of autonomously maneuvering the articulated vehicle, and will demonstrate the highly-practical application of this technology in the agricultural field environment.

Original languageEnglish
Title of host publicationAutomation Technology for Off-road Equipment - Proceedings of the International Conference, ATOE 2004
EditorsQ. Zhang, M. Iida, A. Mizushima
Pages264-273
Number of pages10
Publication statusPublished - 2004
Externally publishedYes
EventInternational Conference on Automation Technology for Off-road Equipment, ATOE 2004 - Kyoto, Japan
Duration: Oct 7 2004Oct 8 2004

Other

OtherInternational Conference on Automation Technology for Off-road Equipment, ATOE 2004
CountryJapan
CityKyoto
Period10/7/0410/8/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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