Navigation system for agricultural machines: Nonlinear Model Predictive path tracking |
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| Institution: | 1. Department of Biosystems (BIOSYST), Division of Mechatronics, Biostatistics and Sensors (MeBioS), University of Leuven (KU Leuven), Kasteelpark Arenberg 30, 3001 Leuven, Belgium;2. School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore;1. Department of Biological and Agricultural Engineering, Texas A&M University, College Station, TX, 77843, USA;2. Department of Biosystems and Biomaterials Engineering, College of Agriculture and Life Sciences, Seoul National University, Seoul, 08826, Republic of Korea;3. Research Institute of Agriculture and Life Sciences, Seoul National University, Seoul, 08826, Republic of Korea;4. Department of Mechanical and System Design Engineering, Hongik University, Seoul, 04066, Republic of Korea;5. R&D Institute, Tong Yang Moolsan Co., Ltd., Chungcheongnam-do, 32530, Republic of Korea;6. Wonik Robotics Co., Ltd., Gyunggi-do, 13486, Republic of Korea;1. College of Engineering, Anhui Agricultural University, Hefei 230036, China;2. Anhui Province Engineering Laboratory of Intelligent Agricultural Machinery and Equipment, Hefei 230036, China;1. Department of Biosystems and Biomaterials Engineering and Research Institute of Agriculture and Life Sciences, Seoul National University, Seoul, Republic of Korea;2. SimLab Co., Ltd., Seoul, Republic of Korea;3. Unmanned Solutions Co., Ltd., Seoul, Republic of Korea;4. R&D Institute, Tongyang Moolsan Co., Ltd., Gongju, Republic of Korea;5. Environmental Materials & Components Center, Korea Institute of Industrial Technology, Jeonju, Republic of Korea;1. Aalto University, School of Electrical Engineering, Department of Electrical Engineering and Automation, P.O. Box 15500, 00076 Aalto, Finland;2. MTT Agrifood Research Finland, Vakolantie 55, 03400 Vihti, Finland;1. College of Engineering, Laboratory of Modern Facility Agriculture Technology and Equipment Engineering of Jiangsu Province, Nanjing Agricultural University, Jiangsu 210031, PR China;2. The Catholic University of Eastern Africa (CUEA), Department of Science, 62157 – 00200 Nairobi, Kenya |
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| Abstract: | This article presents a new kind of navigation system for agricultural machines. The focus is on trajectory control where a Nonlinear Model Predictive path tracking for tractor and trailer system is presented. The experiments of the proposed method are carried out by using real agricultural machines in real environments.The agricultural objective is to drive so that swaths are exactly side-by-side, without overlapping or gaps. Hence, the objective of this research was to control the lateral position of the towed implement and to keep it close to the adjacent driving line. The adjacent driving line was recognized locally by using a 2D laser scanner. The local measurement and global position information was merged with the help of an Extended Kalman Filter (EKF). The measurement of the heading by GPS was improved by using an inertial measurement unit and a separate EKF filter. The position of the implement was controlled by steering the tractor and by the use of a hydraulically controlled joint. Because there were two actuators which affected the position of the implement, the problem was a multivariable control problem. Nonlinear Model Predictive Control (NMPC) was used to accomplish the navigation task.The goal was to build a system, which is able to have at least the same accuracy as a human driver. The sufficient accuracy requirement was at most 10 cm lateral error at a speed of 12 km/h. The results presented in the article show that the goal was met and NMPC is a feasible method for accurate path tracking. Further investigation is, however, needed to adapt the method to other kinds of agricultural machines. |
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