Path-following control by dynamic virtual terrain field for articulated steer vehicles

Autonomous Navigation of a Center-Articulated and Hydrostatic Transmission Rover using a Modified Pure Pursuit Algorithm in a Cotton Field

“…Robot navigation in field crops has been studied well in electric vehicles with Ackerman and omnidirectional steering [ 34 , 35 ]. Limited work has been put forward for the center-articulated vehicle, which is a special kind of off-road vehicle that has very high traction and maneuverability and, hence, is common in agriculture, forestry, and construction industry [ 36 ]. Center-articulated vehicles can easily turn corners in a constrained environment by using two hydraulic cylinders that can change the yaw angle of the two parts of the vehicle [ 36 ].…”

“…Limited work has been put forward for the center-articulated vehicle, which is a special kind of off-road vehicle that has very high traction and maneuverability and, hence, is common in agriculture, forestry, and construction industry [ 36 ]. Center-articulated vehicles can easily turn corners in a constrained environment by using two hydraulic cylinders that can change the yaw angle of the two parts of the vehicle [ 36 ]. Due to this configuration, control of the center-articulated vehicle becomes a challenge because a steering angle has a direct influence on the heading error for both parts of the vehicle and, hence, small mistakes in turning can cause large path errors [ 36 ].…”

“…Center-articulated vehicles can easily turn corners in a constrained environment by using two hydraulic cylinders that can change the yaw angle of the two parts of the vehicle [ 36 ]. Due to this configuration, control of the center-articulated vehicle becomes a challenge because a steering angle has a direct influence on the heading error for both parts of the vehicle and, hence, small mistakes in turning can cause large path errors [ 36 ]. Since it is working off-road, it becomes more difficult due to the rough terrain of the land.…”

“…Since it is working off-road, it becomes more difficult due to the rough terrain of the land. There are limited control methods for center-articulated vehicles compared to traditional vehicles [ 35 , 36 ]. Hence, more work should be done to improve path following of the center-articulated vehicle in real field conditions [ 36 ].…”

“…There are limited control methods for center-articulated vehicles compared to traditional vehicles [ 35 , 36 ]. Hence, more work should be done to improve path following of the center-articulated vehicle in real field conditions [ 36 ]. Additionally, center-articulated vehicles have the potential to be used in cotton fields because they have high traction and can be small but able to pass over high-density cotton fields easily, compared to other similar sized vehicles.…”