Path following with a robotic platform

This paper considers path following control for a four-wheel steered robotic platform. The vehicle used for the experiments is a specially designed robotic platform for performing autonomous weed control. The robot uses RTK- DGPS to determine both position and orientation relative to the path. The deviation of the robot to the desired path is supplied to a high level controller that determines the setpoints of the wheel angles and wheel speeds. At low level each wheel angle is controlled by a P controller combined with a Smith predictor. Results are presented of a preliminary navigation test on a paving.

Bibliographic Details

Main Authors:	Bakker, T., van Asselt, C.J., Bontsema, J., Müller, J., van Straten, G.
Format:	Article in monograph or in proceedings biblioteca
Language:	English
Subjects:	Life Science,
Online Access:	https://research.wur.nl/en/publications/path-following-with-a-robotic-platform
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