Article
Robust navigation control of a 4WD/4WS agricultural robotic vehicle
Computers and Electronics in Agriculture
Document Type
Article
Disciplines
Publication Version
Accepted Manuscript
Publication Date
9-1-2019
DOI
10.1016/j.compag.2019.104892
Abstract
This paper reports the development of a robust controller based on backstepping sliding mode control (SMC) for a four-wheel-steering (4WS) and four-wheel-drive (4WD) agricultural robotic vehicle. Two RTK-GPS receivers were installed on the vehicle to provide feedback of the robot’s location and orientation. Kinematic models of front wheel steering and coordinated steering modes and their corresponding navigation controllers were developed. Diverse reference trajectories were designed and used to validate the controller performance. The experimental results demonstrated the capability and robustness of the developed SMC navigation controller in controlling a nonholonomic system that has a high degree of freedom.
Copyright Owner
Elsevier B.V.
Copyright Date
2019
Language
en
File Format
application/pdf
Citation Information
Xuyong Tu, Jingyao Gai and Lie Tang. "Robust navigation control of a 4WD/4WS agricultural robotic vehicle" Computers and Electronics in Agriculture Vol. 164 (2019) p. 104892 Available at: http://works.bepress.com/lie_tang/47/
This is a manuscript of an article published as Tu, Xuyong, Jingyao Gai, and Lie Tang. "Robust navigation control of a 4WD/4WS agricultural robotic vehicle." Computers and Electronics in Agriculture 164 (2019): 104892. DOI: 10.1016/j.compag.2019.104892. Posted with permission.