TY  - JOUR
PB  - Elsevier
SN  - 1537-5110
A1  - Plessen, Mogens M. Graf
A1  - Bemporad, Alberto
N2  - 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.
SP  - 28 
KW  - Autonomous navigation; Reference trajectory planning; Linear time-varying model predictive control
Y1  - 2017///
TI  - Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines
AV  - none
JF  - Biosystems Engineering
UR  - http://www.sciencedirect.com/science/article/pii/S1537511016303336
VL  - 153
ID  - eprints3681
EP  -  41
ER  -