Longitudinal Vehicle Control based on Off-road Tire Model for Soft Soil Applications

Vieira, D. J.; Orjuela, Rodolfo; Spisser, Matthias; Basset, Michel

doi:10.1016/j.ifacol.2021.10.180

Cited by 7 publications

(6 citation statements)

References 9 publications

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“…Our group has recently developed an autonomous robot integrating such features Vieira et al (2021Vieira et al ( , 2022. One of our perspectives is to test and validate the whole integrated system including our approach, by conducting field experiments in the near future.…”

Section: Discussionmentioning

confidence: 99%

“…Such a robot needs other subsystems to achieve the task, such as accurate positioning, motion control, and perception system using sensors. Our group has recently developed an autonomous robot integrating such features Vieira et al (2021, 2022). One of our perspectives is to test and validate the whole integrated system including our approach, by conducting field experiments in the near future.…”

Section: Discussionmentioning

confidence: 99%

“…In this article, our main focus is the path planning subsystem. We refer readers to Vieira et al (2021) for more information about path tracking and control laws for vehicles operating in soft soils, to Vieira et al (2022) for positioning system for an autonomous agricultural robot, to Chen et al (2021), Lin et al (2021), and Tang et al (2023) for perception systems, fruit detection, and positioning.…”

Section: Introductionmentioning

confidence: 99%

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Complete coverage path planning for wheeled agricultural robots

Arab

Spisser²,

Essert

2023

Journal of Field Robotics

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In the agricultural industry, an evolutionary effort has been made over the last two decades to achieve precise autonomous systems to perform typical in-field tasks, including harvesting, mowing, and spraying. One of the main objectives of an autonomous system in agriculture is to improve the efficiency while reducing the environmental impact and cost. Due to the nature of these operations, complete coverage path planning (CCPP) approaches play an essential role to find an optimal path which covers the entire field while taking into account land topography, operation requirements, and robot characteristics. The aim of this paper is to propose a CCPP approach defining the optimal movements of mobile robots over an agricultural field. First, a method based on tree exploration is proposed to find all potential solutions satisfying some predefined constraints. Second, a similarity check and selection of optimal solutions method is proposed to eliminate similar solutions and find the best solutions. The optimization goals are to maximize the coverage area and to minimize overlaps, nonworking path length, and overall travel time. To explore a wide range of possible solutions, our approach is able to consider multiple entrances for the robot. For fields with a complex shape, different dividing lines to split them into simple polygons are also considered. Our approach also computes the headland zones and covers them automatically which leads to a high coverage rate of the field.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Complete coverage path planning for wheeled agricultural robots

Arab

Spisser²,

Essert

2023

Journal of Field Robotics

Self Cite

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“…[19] estimated the traction performance using the Bekker-Wong model and then derived the Pacejka model coefficients from these results. In [20], an adapted Burckhardt tire model was introduced for model-based control design. The coefficients of the model were derived from the Bekker-Wong model through nonlinear optimization.…”

Section: Introductionmentioning

confidence: 99%

Model Development for Off-Road Traction Control: A Linear Parameter-Varying Approach

Szabo,

Doba,

Aradi

et al. 2024

Agriculture

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The number of highly automated machines in the agricultural sector has increased rapidly in recent years. To reduce their fuel consumption, and thus their emission and operational cost, the performance of such machines must be optimized. The running gear–terrain interaction heavily affects the behavior of the vehicle; therefore, off-road traction control algorithms must effectively handle this nonlinear phenomenon. This paper proposes a linear parameter-varying model that retains the generality of semiempirical models while supporting the development of real-time state observers and control algorithms. First, the model is derived from the Bekker–Wong model for the theoretical case of a single wheel; then, it is generalized to describe the behavior of vehicles with an arbitrary number of wheels. The proposed model is validated using an open-source multiphysics simulation engine and experimental measurements. According to the validated results, it performs satisfactorily overall in terms of model complexity, calculation cost, and accuracy, confirming its applicability.

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“…The traction forces of the wheels were also controlled to enhance the stability of cars, heavy -duty vehicles, and tractor semi-trailer based on the roll stability control method [15][16][17]. Additionally, a longitudinal vehicle control method based on the interaction model between the off-road tire and soft soil ground was also studies [18,19]. The research results showed that the stability and safety of the vehicle was greatly affected by the lateral forces acting on the front and rear wheels of vehicles.…”

Section: Introductionmentioning

confidence: 99%

Effect of the geometrical parameters on the vehicle's moving stability

Ye¹,

Nguyen²,

Ke³

2022

J., mech. eng. autom., control. syst.

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To enhance the moving stability and safety of vehicles, kinematics and dynamics model of the vehicle consisting of a guided front wheel and a free rear wheel is established based on the model of a four-wheeled vehicle when the vehicle moves on the curve-road. The effect of the geometrical parameters and dynamics parameters including the factor of the moving stability, vehicle moving speed, lateral stiffness parameters of the front and rear wheels, vehicle mass, vehicle length on the vehicle moving stability and safety is then simulated and analyzed, respectively. The research results indicate that the operating parameters of the vehicle greatly affect the vehicle moving stability. The lateral stiffness parameters of the front and rear wheels should be increased while the vehicle mass needs to be reduced in the operating condition of the vehicle to enhance the vehicle moving stability. Besides, the vehicle length L should be reduced and the longitudinal distance of a needs to be distributed by 0.95×a to further improve the vehicle moving stability.

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Longitudinal Vehicle Control based on Off-road Tire Model for Soft Soil Applications

Cited by 7 publications

References 9 publications

Complete coverage path planning for wheeled agricultural robots

Complete coverage path planning for wheeled agricultural robots

Model Development for Off-Road Traction Control: A Linear Parameter-Varying Approach

Effect of the geometrical parameters on the vehicle's moving stability

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