Path following with a robotic platform

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

Research output: Chapter in Book/Report/Conference proceedingConference paperAcademicpeer-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 languageEnglish
Title of host publicationAgricontrol 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 PublicationOsijek
Pages153-158
Publication statusPublished - 2007
EventAgricontrol 2007 -
Duration: 3 Sept 20075 Sept 2007

Conference

ConferenceAgricontrol 2007
Period3/09/075/09/07

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