Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm Vehicles Path Tracking

@article{Lenain2005ModelPC,
  title={Model Predictive Control for Vehicle Guidance in Presence of Sliding: Application to Farm Vehicles Path Tracking},
  author={Roland Lenain and Benoit Thuilot and Christophe Cariou and Philippe Martinet},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={885-890}
}
One of the major current developments in agricultural machinery aims at providing farm vehicles with automatic guidance capabilities. With respect to standard mobile robots applications, two additional difficulties have to be addressed: firstly, since farm vehicles operate on fields, sliding phenomena inevitably occurs. Secondly, due to large inertia of these vehicles, small delays introduced by low-level actuators may have noticeable effects. These two phenomena may lower considerably the… CONTINUE READING

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