Artículos de revistas
Dynamic Modeling and Identification of an Agriculture Autonomous Vehicle
Fecha
2016-06Registro en:
Herrera Anda, Daniel Esteban; Tosetti Sanz, Santiago Ramon; Carelli Albarracin, Ricardo Oscar; Dynamic Modeling and Identification of an Agriculture Autonomous Vehicle; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 14; 6; 6-2016; 2631-2637
1548-0992
CONICET Digital
CONICET
Autor
Herrera Anda, Daniel Esteban
Tosetti Sanz, Santiago Ramon
Carelli Albarracin, Ricardo Oscar
Resumen
In the present article, it is presented the modeling and identification of an autonomous vehicle that has been designed for agricultural tasks. With the purpose of defining the best model structure, different models have been presented. Particularly, it is assumed that the lateral and longitudinal dynamics are decoupled dynamics, and based on this assumption these are modeled and identified in an isolated way. Particular emphasis was made in lateral and rotational dynamics. The vehicle under study is a quadricycle (ATV) that has been modified and adapted to work in an autonomous way. It has been presented simulation proofs and experimentation with the real vehicle that allows guaranteeing the performance of the developed models.