Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines
| Autor: | Mogens Graf Plessen, Alberto Bemporad |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Agricultural machinery business.industry Computer science Path tracking Soil Science 04 agricultural and veterinary sciences 02 engineering and technology Model predictive control 020901 industrial engineering & automation Control and Systems Engineering Control theory Trajectory planning 040103 agronomy & agriculture 0401 agriculture forestry and fisheries Actuator business Design methods Agronomy and Crop Science Time complexity Smoothing Food Science |
| Zdroj: | Biosystems Engineering. 153:28-41 |
| ISSN: | 1537-5110 |
| DOI: | 10.1016/j.biosystemseng.2016.10.019 |
| Popis: | A method for the control of autonomously and slowly moving agricultural machinery is presented. Special emphasis is on offline reference trajectory generation tailored for high-precision closed-loop tracking within agricultural fields using linear time-varying model predictive control. When optimisation is carried out, high-level logistical processing can result in edgy reference paths for field coverage. Subsequent trajectory smoothing can consider specific actuator rate constraints and field geometry. The latter step is the subject of this paper. Focussing on forward motion only, the role of non-convexly shaped field geometry, repressed area minimisation and spraying gap avoidance is analysed. Three design methods for generating smooth reference trajectories are discussed: circle-segments, generalised elementary paths, and bi-elementary paths. |
| Databáze: | OpenAIRE |
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