Long distance autonomous trajectory tracking for an orchard vehicle

Long distance autonomous trajectory tracking for an orchard vehicle Purpose – The purpose of this paper is to present work which is a part of the Comprehensive Automation for Specialty Crops project (CASC). Desired trajectory tracking objective has been previously performed by using a non‐model based approach in this project. Long distance autonomous drive has been achieved; however the results haven't met the expectations of the project requirements. In order to provide these requirements, this study is conducted. In this study, long distance autonomous trajectory tracking for an orchard vehicle is studied. Besides longitudinal motion, lateral motion of the vehicle is also considered. The longitudinal and lateral errors are objected to keep into a region of less than 10 cm. Design/methodology/approach – Car‐like robot kinematic modeling approach is used to create desired trajectory. In order to control longitudinal velocity and steering angle of the vehicle, a controller methodology is proposed. Stability of the controller proposed is shown by using Lyapunov stability approach. Findings – The proposed model is adapted into a four‐wheeled autonomous orchard vehicle and tested in an experimental orchard for long distance autonomous drives. More than 15 km autonomous drive is successfully achieved and the details are presented in this paper. Originality/value – In this study, long distance autonomous trajectory tracking for an orchard vehicle is focused. A model based control strategy, including the information about longitudinal and lateral motion of the vehicle, is constructed. A new approach to create steering angles for turning operations of the orchard vehicle is introduced. It is objected that the longitudinal and lateral errors should be less than 10 cm during the trajectory tracking task. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Long distance autonomous trajectory tracking for an orchard vehicle

Industrial Robot: An International Journal, Volume 40 (1): 14 – Jan 4, 2013

Loading next page...
 
/lp/emerald-publishing/long-distance-autonomous-trajectory-tracking-for-an-orchard-vehicle-35i7dQC90Q
Publisher
Emerald Publishing
Copyright
Copyright © 2013 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
D.O.I.
10.1108/01439911311294237
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to present work which is a part of the Comprehensive Automation for Specialty Crops project (CASC). Desired trajectory tracking objective has been previously performed by using a non‐model based approach in this project. Long distance autonomous drive has been achieved; however the results haven't met the expectations of the project requirements. In order to provide these requirements, this study is conducted. In this study, long distance autonomous trajectory tracking for an orchard vehicle is studied. Besides longitudinal motion, lateral motion of the vehicle is also considered. The longitudinal and lateral errors are objected to keep into a region of less than 10 cm. Design/methodology/approach – Car‐like robot kinematic modeling approach is used to create desired trajectory. In order to control longitudinal velocity and steering angle of the vehicle, a controller methodology is proposed. Stability of the controller proposed is shown by using Lyapunov stability approach. Findings – The proposed model is adapted into a four‐wheeled autonomous orchard vehicle and tested in an experimental orchard for long distance autonomous drives. More than 15 km autonomous drive is successfully achieved and the details are presented in this paper. Originality/value – In this study, long distance autonomous trajectory tracking for an orchard vehicle is focused. A model based control strategy, including the information about longitudinal and lateral motion of the vehicle, is constructed. A new approach to create steering angles for turning operations of the orchard vehicle is introduced. It is objected that the longitudinal and lateral errors should be less than 10 cm during the trajectory tracking task.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Jan 4, 2013

Keywords: Control systems; Robots; Trajectories; Tracking; Autonomous industrial robotics; Control industrial robotics; Automated guided vehicles; Industrial robotics

References

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create folders to
organize your research

Export folders, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off