This paper introduces a novel path tracking controller for an over-actuated robotic vehicle moving in an agricultural field. The vehicle itself is a four wheel steered, four wheel driven vehicle subject to the two non-holonomic constraints of free rolling and non-slipping wheels. A dynamic model of the vehicle is developed and used, together with an artificial potential field method, to synthesize a path tracking controller. The controller drives the vehicle to its destination way-point while avoiding crossing obstacles, e. g. crop rows. One of the key features of the controller is a novel method of relating artificial forces with the drive torques of the vehicle.
11th Mediterranean Conference on Control and Automation, June 2003, 2003
Main Research Area:
Artificial Potential Field Approach to Path Tracking for a Non-Holonomic Mobile Robot, 2003