Longitudinal trajectory tracking for UGVs on agricultural terrains

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dc.creatorVictor Ricardo Fernandes Miranda
dc.creatorArmando Alves Neto
dc.creatorLeonardo Amaral Mozelli
dc.date.accessioned2025-05-07T15:20:33Z
dc.date.accessioned2025-09-09T00:34:13Z
dc.date.available2025-05-07T15:20:33Z
dc.date.issued2019
dc.identifier.doi10.17648/sbai-2019-111420
dc.identifier.urihttps://hdl.handle.net/1843/82095
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof14º Simpósio Brasileiro de Automação Inteligente
dc.rightsAcesso Aberto
dc.subjectRobôs - Sistemas de controle
dc.subjectAeronave não tripulada
dc.subject.otherAutonomous ground vehicle; Trajectory tracking; Agricultural robotics; Robustcontrol; Nonlinear control
dc.subject.otherControle
dc.titleLongitudinal trajectory tracking for UGVs on agricultural terrains
dc.typeArtigo de evento
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://proceedings.science/sbai-2019/trabalhos/longitudinal-trajectory-tracking-for-ugvs-on-agricultural-terrains?lang=pt-br

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