Path following with a robotic platform

T. Bakker; C.J. van Asselt; J. Bontsema; J. Müller; G. van Straten

Path following with a robotic platform

T. Bakker, C.J. van Asselt, J. Bontsema, J. Müller, G. van Straten

PE&RC

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Academic › peer-review

Abstract

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.

Original language	English
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
Pages	153-158
Publication status	Published - 2007
Event	Agricontrol 2007 - Duration: 3 Sept 2007 → 5 Sept 2007

Conference/symposium

Conference/symposium	Agricontrol 2007
Period	3/09/07 → 5/09/07

Access to Document

https://edepot.wur.nl/17631

Cite this

@inproceedings{b281b23c20f343469478cb771b208858,

title = "Path following with a robotic platform",

abstract = "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.",

author = "T. Bakker and {van Asselt}, C.J. and J. Bontsema and J. M{\"u}ller and {van Straten}, G.",

year = "2007",

language = "English",

pages = "153--158",

booktitle = "Agricontrol 2007 Proceedings of the 2nd IFAC Intern. Conf. on Modeling and Design of Control Systems in Agriculture, Osijek, Croatia, 3 - 5 September, 2007",

note = "Agricontrol 2007 ; Conference date: 03-09-2007 Through 05-09-2007",

}

Path following with a robotic platform. / Bakker, T.; van Asselt, C.J.; Bontsema, J. et al.
Agricontrol 2007 Proceedings of the 2nd IFAC Intern. Conf. on Modeling and Design of Control Systems in Agriculture, Osijek, Croatia, 3 - 5 September, 2007. Osijek, 2007. p. 153-158.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Academic › peer-review

TY - GEN

T1 - Path following with a robotic platform

AU - Bakker, T.

AU - van Asselt, C.J.

AU - Bontsema, J.

AU - Müller, J.

AU - van Straten, G.

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

M3 - Conference paper

SP - 153

EP - 158

BT - Agricontrol 2007 Proceedings of the 2nd IFAC Intern. Conf. on Modeling and Design of Control Systems in Agriculture, Osijek, Croatia, 3 - 5 September, 2007

CY - Osijek

T2 - Agricontrol 2007

Y2 - 3 September 2007 through 5 September 2007

ER -

Path following with a robotic platform

Abstract

Conference/symposium

Access to Document

Fingerprint

Cite this