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This paper addresses the problem of path generation and motion control for the autonomous maneuvers of a farm vehicle 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. They are based on a kinematic model extended...
Lots of satisfactory results of high-precision lateral control have been reported with the assumption that vehicles move without sliding. But this assumption never comes true under real working conditions. More and more anti-sliding controllers have been designed which heavily relied on sophisticated control laws. Although the previous works can actually improve the guidance accuracy, the complexity...
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