eprintid: 3681
rev_number: 6
eprint_status: archive
userid: 69
dir: disk0/00/00/36/81
datestamp: 2017-03-22 10:06:42
lastmod: 2017-03-22 10:06:42
status_changed: 2017-03-22 10:06:42
type: article
metadata_visibility: show
creators_name: Plessen, Mogens M. Graf
creators_name: Bemporad, Alberto
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
title: Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines
ispublished: pub
subjects: QA75
subjects: S1
divisions: CSA
full_text_status: none
keywords: Autonomous navigation; Reference trajectory planning; Linear time-varying model predictive control
abstract: 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.
date: 2017
date_type: published
publication: Biosystems Engineering
volume: 153
publisher: Elsevier
pagerange: 28 - 41
id_number: 10.1016/j.biosystemseng.2016.10.019
refereed: TRUE
issn: 1537-5110
official_url: http://www.sciencedirect.com/science/article/pii/S1537511016303336
citation:   Plessen, Mogens M. Graf and Bemporad, Alberto  Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines.  Biosystems Engineering, 153.  28 - 41.  ISSN 1537-5110      (2017)