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Erschienen in:
2020 | OriginalPaper | Buchkapitel
Design of Control System for Autonomous Harvester Based on Navigation Inputs
verfasst von : Avishek Chatterjee, K. P. Peeyush
Erschienen in: Advances in Electrical and Computer Technologies
Verlag: Springer Singapore
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Abstract
This paper is focused on the development of a control system for an autonomous farming vehicle, which can reduce human effort in farming significantly. The system can operate in semiautonomous mode and autonomous mode. It is capable of driving the vehicle using in-vehicle switches in semiautonomous mode. Geometry-based path tracking, proportional controller based speed control, Proportional Integral Derivative (PID) controller based steering control, positional error based speed rectification, and path positional error prediction are used in autonomous mode.