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Abstract
When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground.
It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.
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Authors and Affiliations
Cemagref, 24 av. des Landais, BP50085, 63172, Aubière Cedex, France
Roland Lenain & Christophe Cariou
LASMEA, 24 av. des Landais, 63177, Aubière Cedex, France
Benoit Thuilot & Philippe Martinet
- Roland Lenain
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- Benoit Thuilot
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- Christophe Cariou
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- Philippe Martinet
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Correspondence toRoland Lenain.
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Roland Lenain is a research engineer in Cemagref on the topic of agriculture robotics. His research interests include the modeling and the control of agricultural vehicles. The aims of research are the development of automatic devices for farmer comfort, environmental aspects and safety. He was graduated from IFMA (French Institute for Advanced Mechanics) in 2002. He received is Ph.D. degree in Robotics from the Blaise Pascal University in 2005.
Benoit Thuilot received his Electrical Engineer and PhD Diploma in 1991 and 1995. He held postdoctoral appointment at INRIA research units of Grenoble, France (1996) and of Sophia-Antipolis, France (1997). Since 1997, he is an assistant professor at Blaise Pascal University of Clermont-Ferrand, France. He is also a research scientist at LASMEA-CNRS Laboratory - Clermont-Ferrand. His research interests include nonlinear control of mechanical systems, with application to automatic guided vehicles. Intelligent Transportation Systems and Off-Road vehicles are both addressed.
Christophe Cariou received his Electrical Engineer Diploma from CUST, University of Clermont-Ferrand, France, in 1994. He spent three years in the Electrical industry. Since 1998, he has been working on automatic guided farm vehicles at Cemagref, Clermont-Ferrand.
Philippe Martinet graduated from the CUST, Clermont- Ferrand, France, in 1985 and received the Ph.D. degree in electronics science from the Blaise Pascal University, Clermont-Ferrand, France, in 1987. Since 2000, he has been a Professor with Institut Français de Mécanique Avancée (IFMA), Clermont-Ferrand. He is performing research at the Robotics and Vision Group of LASMEA-CNRS, Clermont-Ferrand. He is the leader of the group. His research interests include visual servoing, vision-based control, robust control, automatic guided vehicles, enhanced mobility, active vision and sensor integration, visual tracking, and parallel architecture for visual servoing applications.
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Lenain, R., Thuilot, B., Cariou, C.et al. High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks.Auton Robot21, 79–97 (2006). https://doi.org/10.1007/s10514-006-7806-4
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