Trajectory Planning and Lateral Control for Agricultural Guidance Applications

This paper addresses a planning approach based on B-splines for successively generated trajectories. Additionally, the lateral controller which was used to calculate the steering angle is described and the method how the required parameters were determined is introduced. It is explained how the output of a perception system is used to generate control points for the trajectory and how the inputs of the path tracker are derived from the B-splines which are represented as Bézier curves. The performance of the planning and control approach was tested on two different agricultural machines and also within a windrow guidance application.