Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. In this paper, we investigate the possibility of achieving this task with a CP-DGPS as the unique sensor. The vehicle heading is derived according to a Kalman state reconstructor, and a nonlinear velocity independent control law is designed, relying on chained systems properties. Field experiments, demonstrating the capabilities of our guidance system, are reported and discussed.
A very accurate vehicle guidance is required in numerous agricultural applications, as seeding, spraying, row cropping, . . . Accuracy in vehicle localization can be obtained in realtime from a RTK GPS sensor. Several control laws, relying on this sensor, have been previously designed and provide satisfactory results as long as vehicles do not slide. However, sliding has to occur in agricultural tasks (sloping fields, curves on a wet land, . . .). The challenge addressed in this paper is to preserve vehicle guidance accuracy in such situations. A nonlinear adaptive control law is here designed. Simulation results and field experiments, demonstrating the capabilities of that control scheme, are reported and discussed.
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