Proportional Controller-Based Algorithm Ensuring Safe Avoidance of Obstacles for Autonomous Tractors
文献类型： 会议论文
第一作者： Gülşah Demirhan Aydın
作者： Gülşah Demirhan Aydın 1 ; Arda Günay 2 ; Mehmet Küçükosmanoğlu 3 ;
作者机构： 1.Elektrik Elektronik Mühendisliği Bölümü, Başkent Üniversitesi, Ankara, Türkiye
2.Mekatronik Sistemler TÜBİTAK SAGE, Ankara, Türkiye
3.Elektronik Sistemler Werer Goup, Ankara, Türkiye
关键词： Robots;Agricultural machinery;Mathematical models;Path planning;Navigation;Heuristic algorithms;Technological innovation;Sonar;Simulation;Robot sensing systems
会议名称： Innovations in Intelligent Systems and Applications Conference
主办单位：
页码： 1-5
摘要： In this study, a proportional controller-based algorithm developed for autonomous tractors to avoid obstacles during agricultural operations such as tillage, seeding, irrigation, harvesting, and fertilization has been integrated with techniques of full cellular decomposition and artificial potential field approaches. Autonomous tractors face various challenges when navigating dynamic and crowded environments. The algorithm provides a robust, accurate, and reliable control framework using real-time sensor data to detect and respond to both moving and stationary obstacles. Its adaptive decision-making capabilities dynamically adjust path planning considering the tractor's kinematics and dynamics, ultimately ensuring collision-free navigation. Simulation results support the effectiveness of the algorithm in various agricultural scenarios, demonstrating its capability to be safely and accurately integrated into modern farming practices with autonomous tractors.
分类号： tp18
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