this research presents a guidance-assistance system for agricultural swing machines. the new automatic steering system controls the vehicle based upon the position of the traces of the previous operation carried out on the field. for each image the trace of the tilled soil by seed drill is placed either on the center line, or on either side of the line. for traces coinciding with images' c...

[Abstract] An automated E/H steering controller is essential for autonomous off-road equipment. This paper presents a methodology for designing the E/H steering controller through a combination of testing and simulation. The steering kinematic model provides the steering linkage gain between the hydraulic actuator and the front wheel. The model makes it possible to close the steering control lo...

There are a variety of factors affecting steering performance on off-road vehicles, including vehicle dynamics and soil stiffness. It is essential to understand the steering dynamics for designing a reasonable electrohydraulic (E/H) steering control system for wheel-type tractor. A computer-controlled E/H steering simulator, consisting of a steering actuator and a steering load simulator, is an...

To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actua...

This paper aims to develop a driver steering model that can capture driver’s key steering mechanisms from a control engineering point of view. Analyses with Double Lane Change (DLC) vehicle test data suggest that, instead of following the traditional concept of trajectory planning, drivers use target points located along the centerline of the lane they are changing to as references for control....

Interactive Computational Steering is the online, interactive allocation and adjustment of system resources and application parameters. Causal consistency is an important feature of interactive steering of distributed computations, as it is often required to maintain the correctness of the computation. However, due to the asynchronous nature of distributed computations, it is difficult to coord...

Kinematic synthesis of a trailing six-member mechanism has been carried out to achieve five precision points of an automotive steering mechanism. The inner wheel can be rotated up to forty five degrees with fair accuracy. Results show that the divergent end behavior of Ackermann Steering Mechanism has been overcome by the present mechanism. The work is similar to earlier work by the present ...

This paper discuses sensor steering mechanism (SSM) for a laterally guided vehicle with a rear wheel steering mechanism. The authors have demonstrated the geometry of SSMs for front wheel steering type and reverse phase four-wheel steering type vehicles. SSMs allow stable lateral guiding performance for automated vehicles following a path with straight and curved portions created by a guideway....

Computational steering is the online, interactive allocation of resources and adjustment of application parameters. Although several systems for steering distributed computations have been developed, few support the coordinated steering of multiple processes. Of those that do provide such support, most take a conservative approach. Our system is unique in its optimistic approach. Coordinated st...

We present an approach to enhance fault-tolerance of real-time systems through steering. Steering means external alteration of the system's behavior in response to a deviation from requirements. The steering technique is embedded into a framework of monitoring and checking (MaC). MaC allows the users to perform runtime analysis of the current execution of a system with respect to formally speci...