The Use of Hough Transform Method and Knot-Like Turning for Motion Planning and Control of an Autonomous Agricultural Vehicle

This study focuses on motion planning and reference trajectory tracking control of an autonomous agricultural vehicle to achieve precise row following turning. The smooth time-varying feedback method was adapted the system generate required commands. mathematical representations for controllers were constructed based car-like robot model. An algorithm detect trees rows orchard developed using Hough transform approach. A new type turning procedure, called knot-like turning, proposed perform from one another. simulation environment created test analyze system. To obtain real data a field, cherry scanned laser scanner rangefinder sensor. Then, moved desired trajectory, which followed by vehicle. made it possible determine performance planning, generation, procedures. results presented here indicate that methodology could be used tasks operations in case minimum errors both straight motions are needed.