Research on virtual Ackerman steering model based navigation system for tracked vehicles

•An autonomous driving system for a low-cost tracked orchard vehicle is established.•Cubic spline interpolation smoothen RTK-GNSS position based path point sequencen.•Virtual Ackerman steering model and forward-steering PWM-based vehicle control method.•Feedback control algorithm based on pole assig...

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Veröffentlicht in:	Computers and electronics in agriculture 2022-01, Vol.192, p.106615, Article 106615
Hauptverfasser:	Zhang, Linhuan, Zhang, Ruirui, Li, Longlong, Ding, ChenChen, Zhang, Danzhu, Chen, Liping
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomous driving Control methods Control systems Diesel engines Engine cylinders Global navigation satellite system Interpolation Navigation systems Orchard vehicle Path smoothing Path tracking Pole placement Proportional control Pulse duration modulation Smoothness Standard error State feedback Steering Tracked vehicles Tracking control Tracking errors
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