Automatic Guidance of Agricultural Wide-Span Implement Carrier (WSIC)

Chengming Luo, Université D'Ottawa / University Of Ottawa, Université D'Ottawa / University Of Ottawa
The Wide-Span Implement Carrier (WSIC) is a versatile agricultural platform for the support and operation of different agricultural field equipment. It has been used in cranberry production since the 1990s. The main components of the WSIC include a long truss and two low-profile tractors that provide support to the truss at each end. WSIC operations require the motions of the two tractors to be well synchronized. Currently, this process is controlled by human operators on the tractors and the
more » ... tractors and the guidance accuracy depends on their experience and on-site judgement. The objective of this research is to develop an automatic guidance system to replace the manual guidance and control process of the WSIC, so that the demand of operators can be reduced and the operation accuracy can be improved. The original contributions of this work are the development and experimental validation of the two groups of control algorithms designed for the WISC, one for its mobile operating mode and one for its stationary operating mode. The mobile mode was modelled as a synchronous trajectory tracking problem and a master-slave cooperative method was designed. The stationary mode was modelled as a parallel point-to-point tracking problem and a second master-slave cooperative method was designed. For the mobile mode, the master vehicle performs a path following task by controlling its steering angle, and the slave vehicle performs a path following task and a synchronous tracking task by controlling both the steering angle and the velocity. During the operation, the motion states of the master including its position, orientation, and velocity are sent to the slave in real time. For the stationary mode, both vehicles perform a point tracking task and repeat the task in a periodic control sequence, which is executed on the master. The slave follows the commands sent from the master to perform point tracking processes. The designed control algorithms were first verified through several simulations. To test the control models and algorithms in pra [...]
doi:10.20381/ruor-21308 fatcat:52daomkpynfidgyp2q4bzto5gy