A New Approach for Addressing Slip Ratio Optimization and Trajectory Tracking Challenges in Autonomous Tractor Operations Otonom Traktör İşlemlerinde Teker Kayma Oranı Optimizasyonu ve Yörünge Takibine Yönelik Yeni Bir Yaklaşım

Aydın G. D., Aydemir A. B., Kansou M. T., Altınuç K. O.

32nd IEEE Conference on Signal Processing and Communications Applications, SIU 2024, Mersin, Turkey, 15 - 18 May 2024, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu61531.2024.10600918
  • City: Mersin
  • Country: Turkey
  • Keywords: autonomous electric tractor, model predictive control, tire longitudinal slip ratio control, trajectory following
  • Middle East Technical University Affiliated: No

Abstract

The usage of autonomous agricultural machines is increasing. In this study, two controllers have been designed for trajectory following and longitudinal tire slip ratio control of a rear-wheel independent traction electric autonomous tractor. The first controller is model predictive control (MPC) and the second controller is proportional integral derivative (PID) based. To evaluate the performance of the controllers in the simulation environment, a mathematical tractor model is prepared. Simulations have been made and performances of the designed controllers are shared.