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Additionally, the lateral controller which was used to calculate the steering angle is described and the method by which the required parameters were determined is introduced. We explain stepwise how the output of a perception system is used to determine the control points for the planner and why B-splines and Bezier curves are used to model the trajectory. Moreover, it is shown how the inputs for the path tracker are derived from the B-splines. The approach was implemented on two different farm machines where the performance of the planning and control approach were evaluated. Furthermore, both algorithms were used to build a windrow guidance demonstrator.</p></div> <br /> </div> <div id="articleSubject"> <h4>Keywords</h4> <br /> <div>B-Splines; Agricultural Guidance; Lateral Control; Path Planning; Trajectory Planning</div> <br /> </div> <div id="articleCitations"> <h4>References</h4> <br /> <div> <p>H. Prautzsch, W. Boehm, and M. Paluszny, Bzier and B-Spline techniques, Springer, 2002.</p> <p>L. Han, H. Yashiro, H. Nejad, Q. H. Do, and S. Mita, "Bezier curve based path planning for autonomous vehicle in urban environment," in Intelligent Vehicles Symposium (IV), 2010 IEEE, University of California, San Diego, CA, USA, June 21-24 2010, pp. 1036-1042.</p> <p>T. Arney, "Dynamic path planning and execution using b-splines," in Proceedings, Third International Conference on Information and Automation for Sustainability (ICIAFS), December 4-6 2007, pp. 1-6.</p> <p>J. Connors and G. Elkaim, "Analysis of a spline based, obstacle avoiding path planning algorithm," in Proceedings, Vehicular Technology Conference, 2007. VTC2007-Spring. IEEE 65th, Dublin, Ireland, April 22-25 2007, pp. 2565-2569.</p> <p>S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, and Pasc, "Stanley: The robot that won the DARPA Grand Challenge," Journal of Field Robotics, vol. 23, no. 9, September 2006, pp. 661-692.</p> <p>M. Linderoth, K. Soltesz, and R. Murray, "Nonlinear lateral control strategy for nonholonomic vehicles," in Proceedings, American Control Conference, 2008, June 11-13 2008, pp. 3219-3224.</p> <p>J. M. Snider, "Automatic steering methods for autonomous automobile path tracking," Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RITR-09-08, February 2009.</p> <p>A. Stentz, C. Dima, C.Wellington, H. Herman, and D. Stager, "A system for semi-autonomous tractor operations," Autonomous Robots, vol. 13, no. 1, July 2002, pp. 87-103.</p> <p>H. Fang, R. Fan, B. Thuilot, and P. Martinet, "Trajectory tracking control of farm vehicles in presence of sliding." Robotics and Autonomous Systems, vol. 54, no. 10, 2006, pp. 828-839.</p> <p>C. Cariou, R. Lenain, B. Thuilot, and M. Berducat, "Automatic guidance of a four-wheel-steering mobile robot for accurate field operations," Journal of Field Robotics - Special Issue: Agricultural Robotics, vol. 26, no. 6-7, June - July 2009, pp. 504-518.</p> <p>P. Fleischmann, T. Fohst, and K. Berns, "Detection of Field Structures for Agricultural Vehicle Guidance", KI - Kunstliche Intelligenz, http://dx.doi.org/10.1007/s13218-013-0264-1, 2013</p> <p>P. de Casteljau, "Outillages methodes calcul," A. Citroen, Paris, Tech. Rep., 1959.</p> <p>M. Reichardt, T. Fohst, and K. Berns, "On software quality-motivated design of a real-time framework for complex robot control systems," in Proceedings of the 7th International Workshop on Software Quality and Maintainability (SQM), in conjunction with the 17th European Conference on Software Maintenance and Reengineering (CSMR), Genoa, Italy, March 5 2013.</p> </div> <br /> </div> Full Text: <a href="http://it-in-industry.com/issue/archive/papers/14.html" class="file" target="_parent">PDF</a> <div class="separator"></div> <h3>Refbacks</h3> <ul class="plain"> <li>There are currently no refbacks.</li> </ul> <br /><br /> <a target="_new" rel="license" href="http://creativecommons.org/licenses/by/3.0/"> <img alt="Creative Commons License" style="border-width:0" src="http://i.creativecommons.org/l/by/3.0/80x15.png"/> </a> <br/> This work is licensed under a <a rel="license" target="_new" href="http://creativecommons.org/licenses/by/3.0/">Creative Commons Attribution 3.0 License</a>. <br /><br /> <p><img src="index_files/blocks_A1_Innovation.jpg" alt="IT in Innovation" width="207" height="46" /> <img src="index_files/blocks_A1_Business.jpg" alt="IT in Business" width="207" height="46" /> <img src="index_files/blocks_A1_Engineering.jpg" alt="IT in Engineering" width="207" height="46" /> <img src="index_files/blocks_A1_Health.jpg" alt="IT in Health" width="207" height="46" /> <img src="index_files/blocks_A1_Science.jpg" alt="IT in Science" width="207" height="46" /> <img src="index_files/blocks_A1_Design.jpg" alt="IT in Design" width="207" height="46" /> <img src="index_files/blocks_A1_Fashion.jpg" alt="IT in Fashion" width="207" height="46" /></p> IT in Industry @ (2012 - ) . <a href="http://www.it-in-industry.com">http://www.it-in-industry.com</a> . 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