A Low-Cost Platform for Modeling and Controlling the Yaw Dynamics of an Agricultural Tractor to Gain Autonomy

Abstract

In this study, a low-cost proposed platform for training dynamics (PPTD) is proposed based on operational amplifiers to understand the dynamics and variables of the agricultural tractor John Deere tractor model 4430 to gain autonomy and analyze the behavior of control algorithms proposed in real time by state feedback. The proposed platform uses commercial sensors and interacts with the Arduino Uno and/or Daq-6009 board from National Instruments. A mobile application (APP) was also developed for real-time monitoring of autonomous control signals, the local reference system, and physical and dynamic variables in the tractor; this platform can be used as a mobile alternative applied to a tractor in physically installed form. In the presented case, the PPTD was mounted on a John Deere tractor to test its behavior; moreover, it may be used on other tractor models similarly as established here. The established results of this platform were compared with models established in MATLAB, validating the proposal. All simulations and developments are shared through a web-link as open-source files so that anyone with basic knowledge of electronics and modeling of vehicles can reproduce the proposed platform.

Active Control for an Electric Vehicle with an Observer for Torque Energy-Saving

“…It relates the input voltage on the actuator with the angular velocit tained from [40]. -𝛿 , 𝛿 are the tire angle components imposed by the driver and controller ( 𝛿 = (𝑢 − 𝑅 • 𝐼)/𝑘 is the angular velocity response of the actuator on power steering wheel (rad/s), where 𝑢 is the input voltage to actuator (V), 𝑘 is an estimated back electromotive force constant (V/(rad/s)), 𝑅 is the resistan the actuator (Ω), and I is the current (A), considering the simplified mathem model of the cc motor where its values are obtained experimentally [41]. A theoretical verification of the mathematical model of the research article is ca out as an interesting proposal.…”

“…is the angular velocity response of the actuator on the power steering wheel (rad/s), where u m is the input voltage to actuator (V), k b > 0 is an estimated back electromotive force constant (V/(rad/s)), R m is the resistance of the actuator (Ω), and I is the current (A), considering the simplified mathematical model of the cc motor where its values are obtained experimentally [41].…”

Autonomous Vehicles Technological Trends

“…Even though the ITS field is heavily dominated by research examining typical automotive behavior (e.g., family vehicles) in typical driving environments (e.g., urban), the field is far more diverse than that. Various vehicle optimization areas such as aerial [26,30], robot hydraulic system improvements [31], underwater [32], and agricultural [33] vehicles are explored in this issue.…”

Local Path Planning for Autonomous Vehicles Based on the Natural Behavior of the Biological Action-Perception Motion

“…In contrast, local feedback control includes the overall actuator servos for the different autonomous vehicle subsystems (steering, brakes, engine, among others). The interested reader on those topics can review [12][13][14][15][16][17][18][19] and the references therein. This manuscript is focused on the MP's local path planning.…”