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This paper addresses the problem of path generation and motion control for the autonomous maneuver of a farm vehicle with a trailed implement in headland. A reverse turn planner is firstly investigated, based on primitives connected together to easily generate the reference motion. Then, both steering and speed control algorithms are presented to accurately guide the vehicle-trailer system. They are...
A pair of model predictive controllers (MPCs) capable of modifying the nominal roll dynamics of a vehicle through control of the planar vehicle dynamics are presented. Each of these controllers is based on a linear model of the vehicle. One controller utilizes differential drive of the rear axle to modify the planar motion, while the other uses rear-wheel-steering (RWS). Results from simulations of...
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