Adaptive turning control for an agricultural robot tractor
Keywords:
autonomous tractor, path planning, dynamic circle-back turning, switch-back turning, robot tractor, reinforcement learningAbstract
An adaptive turning algorithm for a four-wheel robot tractor in the headland is presented in this paper. The navigation sensors consisted of an inertial measurement unit and a real-time kinematic global positioning system (GPS). An objective function based on weights was used to create the navigation path, connecting by continuous primitives. The asymmetric steering mechanism was then taken into consideration with a vehicle model. To follow the path accurately, the slide movement of the robot and the steering rate were taken into account by estimating the turning radius in real time. In addition, the vehicle model was tuned based on the results of each turn. Therefore, the turning control algorithm was optimized on the basis of the specific conditions in the field. Field experiments showed that the robot tractor approached the next path with an average lateral deviation of 3.9 cm at a speed of 1.2 m/s during a turn. Compared to a conventional turning scheme, the time consumption and turning trajectory were decreased by 17% and 21%, respectively. Keywords: autonomous tractor, path planning, dynamic circle-back turning, switch-back turning, robot tractor, reinforcement learning DOI: 10.25165/j.ijabe.20181106.3605 Citation: Wang H, Noguchi N. Adaptive turning control for an agricultural robot tractor. Int J Agric & Biol Eng, 2018; 11(6): 113–119.References
[1] Torisu R, Tanaka K, Imae J, Ishikwa T. Optimal Path of Headland for Tractors by Optimal Control Theory (Part1): Formulation of Optimal Control Problems and Forward Maneuver of Tractors. J Japanese Soc Agric Mach, 1997; 59: 3–10.
[2] Takai R, Barawid O, Noguchi N. Autonomous navigation system of crawler-type robot tractor. IFAC Proc, 2011; 18: 14165–14169.
[3] Torisu R, Tanaka K, Imae J. Optimal path of headland for tractors by optimal control theory (Part 2): Combination of forward and backward maneuvers. J Japanese Soc Agric Mach, 1998; 60: 45–53.
[4] Kise M, Noguchi N, Ishii K, Terao H. Field mobile robot navigated by RTK-GPS and FOG (Part 2): Autonomous operation by applying navigation map. J Japanese Soc Agric Mach, 2001; 63: 80–85.
[5] Jin J. Optimal field coverage path planning on 2D and 3D surfaces. Iowa State University, 2009.
[6] Tu X. Robust navigation control and headland turning optimization of agricultural vehicles. Iowa State University, 2013.
[7] Yang L. Development of a robot tractor implemented an omni-directional safety system. Hokkaido University, 2013.
[8] Kise M, Noguchi N, Ishii K, Terao H. Field mobile robot navigated by RTK-GPS and FOG (Part 3): Enhancement of turning accuracy by creating path applied with motion constraints. J Japanese Soc Agric Mach, 2002; 64: 102–110.
[9] Cariou C, Lenain R, Thuilot B, Humbert T, Berducat M. Maneuvers automation for agricultural vehicle in headland. AgEng 2010 Conf, , Clermont-Ferrand, Fr 2010: 1–10.
[10] Sabelhaus D, Lammers P S, Peter L, Röben F. Path planning of headland turn manoeuvres. Landtechnik, 2015; 70(4): 123–131.
[11] Backman J, Piirainen P, Oksanen T. Smooth turning path generation for agricultural vehicles in headlands. Biosyst Eng, 2015; 139: 76–86.
[12] Kise M, Noguchi N, Ishii K, Terao H. Field mobile robot navigated by RTK-GPS and FOG (Part 4): The steering controller applied optimal controller. J Japanese Soc Agric Mach, 2002; 64: 76–84.
[13] Kraus T, Ferreau H J, Kayacan E, Ramon H, de Baerdemaeker J, Diehl M, et al. Moving horizon estimation and nonlinear model predictive control for autonomous agricultural vehicles. Comput Electron Agric, 2013; 98: 25–33.
[14] Karkee M, Steward B L. Study of the open and closed loop characteristics of a tractor and a single axle towed implement system. J Terramechanics, 2010; 47: 379–393.
[15] Backman J, Oksanen T, Visala A. Navigation system for agricultural machines: Nonlinear model predictive path tracking. Comput Electron Agric, 2012; 82: 32–43.
[16] Yoshida Y, Wang Q, Oya M, Okumura K. Adaptive longitudinal velocity and lane keeping control of four-wheel-steering vehicles. 2007 SICE Annu. Conf., IEEE, 2007; pp. 1305–1310.
[17] Oya M, Wang Q. Adaptive lane keeping controller for four-wheel-steering vehicles. 2007 IEEE Int. Conf. Control Autom., IEEE, 2007; pp. 1942–1947.
[18] Petrov P, Nashashibi F. Modeling and nonlinear adaptive control for autonomous vehicle overtaking. IEEE Trans Intell Transp Syst, 2014; 15: 1643–1656.
[19] Tashiro T. Vehicle steering control with MPC for target trajectory tracking of autonomous reverse parking. 2013 IEEE Int. Conf. Control Appl., IEEE, 2013; pp. 247–251.
[20] Wang H, Noguchi N. Autonomous maneuvers of a robotic tractor for farming. 2016 IEEE/SICE Int. Symp. Syst. Integr., IEEE, 2016; pp. 592–597.
[21] YANMAR. Main Specifications of Tractor EG97・EG105. https://www.yanmar.com/jp/agri/products/tractor/eg97-105/spec/ [accessed on November 10, 2017].
[2] Takai R, Barawid O, Noguchi N. Autonomous navigation system of crawler-type robot tractor. IFAC Proc, 2011; 18: 14165–14169.
[3] Torisu R, Tanaka K, Imae J. Optimal path of headland for tractors by optimal control theory (Part 2): Combination of forward and backward maneuvers. J Japanese Soc Agric Mach, 1998; 60: 45–53.
[4] Kise M, Noguchi N, Ishii K, Terao H. Field mobile robot navigated by RTK-GPS and FOG (Part 2): Autonomous operation by applying navigation map. J Japanese Soc Agric Mach, 2001; 63: 80–85.
[5] Jin J. Optimal field coverage path planning on 2D and 3D surfaces. Iowa State University, 2009.
[6] Tu X. Robust navigation control and headland turning optimization of agricultural vehicles. Iowa State University, 2013.
[7] Yang L. Development of a robot tractor implemented an omni-directional safety system. Hokkaido University, 2013.
[8] Kise M, Noguchi N, Ishii K, Terao H. Field mobile robot navigated by RTK-GPS and FOG (Part 3): Enhancement of turning accuracy by creating path applied with motion constraints. J Japanese Soc Agric Mach, 2002; 64: 102–110.
[9] Cariou C, Lenain R, Thuilot B, Humbert T, Berducat M. Maneuvers automation for agricultural vehicle in headland. AgEng 2010 Conf, , Clermont-Ferrand, Fr 2010: 1–10.
[10] Sabelhaus D, Lammers P S, Peter L, Röben F. Path planning of headland turn manoeuvres. Landtechnik, 2015; 70(4): 123–131.
[11] Backman J, Piirainen P, Oksanen T. Smooth turning path generation for agricultural vehicles in headlands. Biosyst Eng, 2015; 139: 76–86.
[12] Kise M, Noguchi N, Ishii K, Terao H. Field mobile robot navigated by RTK-GPS and FOG (Part 4): The steering controller applied optimal controller. J Japanese Soc Agric Mach, 2002; 64: 76–84.
[13] Kraus T, Ferreau H J, Kayacan E, Ramon H, de Baerdemaeker J, Diehl M, et al. Moving horizon estimation and nonlinear model predictive control for autonomous agricultural vehicles. Comput Electron Agric, 2013; 98: 25–33.
[14] Karkee M, Steward B L. Study of the open and closed loop characteristics of a tractor and a single axle towed implement system. J Terramechanics, 2010; 47: 379–393.
[15] Backman J, Oksanen T, Visala A. Navigation system for agricultural machines: Nonlinear model predictive path tracking. Comput Electron Agric, 2012; 82: 32–43.
[16] Yoshida Y, Wang Q, Oya M, Okumura K. Adaptive longitudinal velocity and lane keeping control of four-wheel-steering vehicles. 2007 SICE Annu. Conf., IEEE, 2007; pp. 1305–1310.
[17] Oya M, Wang Q. Adaptive lane keeping controller for four-wheel-steering vehicles. 2007 IEEE Int. Conf. Control Autom., IEEE, 2007; pp. 1942–1947.
[18] Petrov P, Nashashibi F. Modeling and nonlinear adaptive control for autonomous vehicle overtaking. IEEE Trans Intell Transp Syst, 2014; 15: 1643–1656.
[19] Tashiro T. Vehicle steering control with MPC for target trajectory tracking of autonomous reverse parking. 2013 IEEE Int. Conf. Control Appl., IEEE, 2013; pp. 247–251.
[20] Wang H, Noguchi N. Autonomous maneuvers of a robotic tractor for farming. 2016 IEEE/SICE Int. Symp. Syst. Integr., IEEE, 2016; pp. 592–597.
[21] YANMAR. Main Specifications of Tractor EG97・EG105. https://www.yanmar.com/jp/agri/products/tractor/eg97-105/spec/ [accessed on November 10, 2017].
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Published
2018-12-08
How to Cite
Wang, H., & Noguchi, N. (2018). Adaptive turning control for an agricultural robot tractor. International Journal of Agricultural and Biological Engineering, 11(6), 113–119. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/3605
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Information Technology, Sensors and Control Systems
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