Autonomous Maneuvers of a Farm Vehicle with a Trailed Implement in Headland

@inproceedings{Cariou2010AutonomousMO,
  title={Autonomous Maneuvers of a Farm Vehicle with a Trailed Implement in Headland},
  author={Christophe Cariou and Roland Lenain and Michel Berducat and Benoit Thuilot},
  booktitle={ICINCO},
  year={2010}
}
This paper addresses the problem of path generation and motion control for the autonomous maneuvers of a farm vehicle with a trailed implement in headland. A reverse turn planner is firstly investigated, based on primitives connected together. Then, both steering and speed control algorithms are considered. When the system is driving forward, the control algorithms are based on a kinematic model extended with additional sliding parameters and on model predictive control approaches. When the… CONTINUE READING

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