Longitudinal trajectory tracking for UGVs on agricultural terrains
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Universidade Federal de Minas Gerais
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This paper presents the development of a small Unmanned Ground Vehicle (UGV)for performing payload delivery tasks in agricultural terrains. The robotic platform is equippedwith low-cost navigation sensors and onboard computers, used to operate a longitudinaltrajectory tracking controller. Based on the nonlinear dynamics of such vehicles, a Backstepping controller with an integral part was developed to execute these tasks. Smooth longitudinaltrajectories have been calculated to be tracked by the controllers in real-time experiments. Wealso present a comparative performance analysis of our controller with others of the literaturewithin different scenarios.
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Robôs - Sistemas de controle, Aeronave não tripulada
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Autonomous ground vehicle; Trajectory tracking; Agricultural robotics; Robustcontrol; Nonlinear control, Controle
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https://proceedings.science/sbai-2019/trabalhos/longitudinal-trajectory-tracking-for-ugvs-on-agricultural-terrains?lang=pt-br