Reference trajectory planning under constraints and path tracking using linear time-varying model predictive control for agricultural machines

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• 作者：Mogens M. Graf Plessen ; ^{mogens.plessen@imtlucca.it} ; Alberto Bemporad ^{alberto.bemporad@imtlucca.it}
• 关键词：Autonomous navigation ; Reference trajectory planning ; Linear time-varying model predictive control
• 刊名：Biosystems Engineering
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：153
• 期：Complete
• 页码：28-41
• 全文大小：1763 K
• 卷排序：153

文摘

Three design tools for smooth path generation: circle segments, generalized elementary and bi-elementary paths. Trade-off between repressed area minimization and spraying gap avoidance. Achievable closed-loop tracking accuracies under nominal conditions (noise-free and full state-feedback).