Modelling and Control Methods in Path Tracking Control for Autonomous Agricultural Vehicles: A Review of State of the Art and Challenges

Wang, Quanyu; He, Jin; Lu, Caiyun; Wang, C.; Lin, Han; Yang, Hanchun; Li, Hang; Wu, Zhengyang

doi:10.3390/app13127155

Cited by 10 publications

(4 citation statements)

References 52 publications

(49 reference statements)

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“…MPC controller modifications which are used for PT include adaptive MPC, linear time-varying MPC, nonlinear MPC, hybrid MPC, ANN MPC, robust MPC, and learning MPC; more details can be found in [ 101 , 216 , 217 ]. More information regarding control methods can be found in [ 102 , 103 , 218 ]. The usage of adaptive MPC together with stability systems such as direct yaw moment control increases PT accuracy [ 216 ].…”

Section: Applied Control Methodsmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

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Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and automation. This paper analyses the overall control structure of automated vehicles with integrated chassis control systems. Integration of longitudinal, lateral, and vertical systems presents complexities due to the overlapping control regions of various subsystems. The presented methodology includes a comprehensive examination of state-of-the-art technologies, focusing on algorithms to manage control actions and prevent interference between subsystems. The results underscore the importance of control allocation to exploit the additional degrees of freedom offered by over-actuated systems. This paper systematically overviews the various control methods applied in integrated chassis control and path tracking. This includes a detailed examination of perception and decision-making, parameter estimation techniques, reference generation strategies, and the hierarchy of controllers, encompassing high-level, middle-level, and low-level control components. By offering this systematic overview, this paper aims to facilitate a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, providing insights into their applications, strengths, and limitations.

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Section: Applied Control Methodsmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

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“…To ensure the accuracy of the studies, only studies that met the following criteria were used in this review: (1) Relevant research in the literature relates to furrowing depth control and detection. (2) The studies in the relevant literature are representative. (3) The results obtained in the literature need to be verified by careful analysis or experimentation.…”

Section: Data Collectionmentioning

confidence: 99%

“…With the development of technologies such as global positioning systems, remote sensing, sensors, and geographic information systems, agricultural production demands higher-precision seeding technology to improve the quality of seeding operations and reduce the cost of machine operations [1][2][3]. In the 1940s, relevant foreign scholars began to study precision seeding technology.…”

Section: Introductionmentioning

confidence: 99%

Research Progress on the Development of the Planter Unit for Furrowing Control and the Depth Measurement Technology

Li,

He,

Wang

et al. 2023

Applied Sciences

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The article briefly describes the importance of furrowing depth stability for seed germination and growth under precision seeding conditions. By analyzing the application status of furrowing depth control technology of the planter globally, the research method, technical characteristics, and development of furrowing depth stability control technology are reviewed from three key aspects, namely, profiling adjustment device, furrowing depth detection technology, and automatic control system. In this paper, (1) two types of profiling adjustments, active and passive, are described based on the difference in the downforce adjustment method; (2) three furrowing depth detection methods are described based on different sensors; (3) and three ways of regulating the furrowing depth system are summarized based on the different ways of evaluating the stability of furrowing depth. In addition, the characteristics and application requirements of global furrow depth control technology are summarized. It is proposed that the future planter should be developed in the direction of automatic navigation, automatic monitoring and evaluation of seeding quality, variable seeding, high-speed seeding, and other intelligent precision seeding techniques. The summary and outlook of this paper aim to promote the overall development of furrowing depth control technology.

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“…Improving the overall machine efficiency, looking at higher engine efficiencies, more efficient mechanical transmissions, more intelligent and efficient way of transmitting power through hydraulics, better traction capabilities; • Improving the process efficiency in terms of finding the best strategies to accomplish the work and the best combination of available technologies that can help achieve the result (introducing autonomous driving to optimize field work [16,17]); • Introducing new alternative fuels with lower environmental impact (synthetic fuels, biofuels, etc. ); • Adopting leading-edge solutions in terms of powertrain configurations (electric, hybrid electric, fuel-cell-powered systems) and innovative implements (electrification and/or automation).…”

mentioning

confidence: 99%

Trends and Future Perspective of Electrification in Agricultural Tractor-Implement Applications

Mocera,

Somà,

Martelli

et al. 2023

Energies

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The worldwide growing demand for food is pushing the agricultural field towards new innovative solutions to increase the efficiency and productivity of cultivations. In this direction, agricultural mechanization plays a crucial role, and tractors are among the most important actors. Agricultural tractors are machines designed to push/pull special instruments usually referred to as implements, to which they may transfer power by means of a mechanical power take-off (PTO) or via hydraulic connections, thanks to the availability of pressurized oil. The tractor can be seen as a mobile power station: the more efficiently it provides power to external implements or to the ground in terms of tractive effort, the higher will be the efficiency and productivity of a certain task. However, the growing demand for greener and sustainable work machines is pushing towards new concepts of tractor powertrains with the goal of reducing, as much as possible, the amount of pollutants and GHG emissions per unit of work. In this paper, the authors will propose a review of the current trends towards electrification of agricultural tractors. Electrification can help in making vehicles more efficient and opening a new scenario for work optimization. Moreover, electrification is also involving the implements attached to the tractor and responsible for actually performing a wide variety of field tasks. However, tractor electrification requires proper attention due to the impact of high power electric systems on the vehicle configuration. For this reason, a proper level of hybridization should be considered. In this paper, a new classification method will be proposed, considering the electrification level in terms of power and as a function of the installed electric energy storage. This definition will be applied to classify the current state of the art of electric and hybrid agricultural tractors, investigating current trends in the scientific community and among industrial manufacturers with a look to the new upcoming technologies.

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Modelling and Control Methods in Path Tracking Control for Autonomous Agricultural Vehicles: A Review of State of the Art and Challenges

Cited by 10 publications

References 52 publications

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Research Progress on the Development of the Planter Unit for Furrowing Control and the Depth Measurement Technology

Trends and Future Perspective of Electrification in Agricultural Tractor-Implement Applications

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