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Authors: E. Flécher 1 ; A. Durand-Petiteville 2 ; F. Gouaisbaut 1 ; V. Cadenat 1 ; T. Sentenac 3 and S. Vougioukas 2

Affiliations: 1 CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse, France, Univ. de Toulouse, UPS, F-31400, Toulouse and France ; 2 Departement of Biological and Agricultural Engineering, University of California, Davis, CA, 95616 and U.S.A. ; 3 CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse and France

ISBN: 978-989-758-380-3

Keyword(s): Mobile Robotics, Sensor-based Navigation, Control Theory, Agricultural Robotics, Orchards.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Software Agents for Intelligent Control Systems ; Vehicle Control Applications

Abstract: This paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. The main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. Then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. These controllers are based on an input to output linearization and proved to be very efficient on simulations.

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Paper citation in several formats:
Flécher, E.; Durand-Petiteville, A.; Gouaisbaut, F.; Cadenat, V.; Sentenac, T. and Vougioukas, S. (2019). Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 355-362. DOI: 10.5220/0007918803550362

@conference{icinco19,
author={E. Le Flécher. and A. Durand{-}Petiteville. and F. Gouaisbaut. and V. Cadenat. and T. Sentenac. and S. Vougioukas.},
title={Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={355-362},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007918803550362},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands
SN - 978-989-758-380-3
AU - Flécher, E.
AU - Durand-Petiteville, A.
AU - Gouaisbaut, F.
AU - Cadenat, V.
AU - Sentenac, T.
AU - Vougioukas, S.
PY - 2019
SP - 355
EP - 362
DO - 10.5220/0007918803550362

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