This paper considers path following control for a four-wheel steered robotic platform. The vehicle used for the experiments is a specially designed robotic platform for performing autonomous weed control. The robot uses RTK- DGPS to determine both position and orientation relative to the path. The deviation of the robot to the desired path is supplied to a high level controller that determines the setpoints of the wheel angles and wheel speeds. At low level each wheel angle is controlled by a P controller combined with a Smith predictor. Results are presented of a preliminary navigation test on a paving.
|Title of host publication||Agricontrol 2007 Proceedings of the 2nd IFAC Intern. Conf. on Modeling and Design of Control Systems in Agriculture, Osijek, Croatia, 3 - 5 September, 2007|
|Place of Publication||Osijek|
|Publication status||Published - 2007|
|Event||Agricontrol 2007 - |
Duration: 3 Sep 2007 → 5 Sep 2007
|Period||3/09/07 → 5/09/07|