Related papers: Towards Agrobots: Trajectory Control of an Autonom…
More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking problem of an autonomous tractor, as an agricultural production…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the…
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a fast distributed nonlinear model predictive control algorithm in combination with nonlinear moving horizon estimation for the state and…
One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…
The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…
In recent years, the use of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot…
This paper proposes a fuzzy logic controller for design of autopilot of a ship. Triangular membership functions have been use for fuzzification and the centroid method for defuzzification. A nonlinear mathematical model of an oil tanker has…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
Increasing demands in performance and quality make drive systems fundamental parts in the progressive automation of industrial processes. Their conventional models become inappropriate and have limited scope if one requires a precise and…
The concept of uncertainty is posed in almost any complex system including parallel robots as an outstanding instance of dynamical robotics systems. As suggested by the name, uncertainty, is some missing information that is beyond the…
This paper concentrates on the study of the decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. To overcome the difficulties caused by the multiple unknown control…
Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex agricultural environments. This is challenging due to their…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
Autonomous mobile robots have many applications in indoor unstructured environment, wherein optimal movement of the robot is needed. The robot therefore needs to navigate in unknown and dynamic environments. This paper presents an…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…