Navigation Control for Autonomous Tractor Guidance
Qiu, Hongchu
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https://hdl.handle.net/2142/86048
Description
Title
Navigation Control for Autonomous Tractor Guidance
Author(s)
Qiu, Hongchu
Issue Date
2002
Doctoral Committee Chair(s)
Zhang, Qin
Department of Study
Agricultural Engineering
Discipline
Agricultural Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Artificial Intelligence
Language
eng
Abstract
The validation of the developed supervisory preview navigation controller was conducted with both computer simulation and field tests on an agricultural tractor platform equipped with RTK-GPS and FOG posture sensors. The field tests showed that the root mean squared (RMS) offset error was less than 0.05 m and the maximum offset error was less than 0.1 m for a straight path at speeds of up to 3 m/s . The RMS offset error was less than 0.1 m and the maximum offset error of 0.2 m for a curved path with a radius of 0.1 m at speeds of up to 1.5 m/ s.
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