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Maneuverability of Wheeled Poly-Articulated Agricultural Vehicles: Modeling and Field Testing

Abstract : Highlights Modeling provides the relationships between path, kinematics, geometry, and towed implements. Linear interpolation allows trajectories to be compared if data recording is random. Correction coefficients can be a solution to compensate for soil resistance. Abstract . Automatic guidance systems and autonomous vehicles require tested methods of path generation to ensure successful maneuvers (such as automatic trajectory correction and headland turn management). In this study, an evolution of Zakin’s kinematic modeling, as applied in the automobile industry, is proposed for an agricultural poly-articulated vehicle (representing a tractor or other type of towing vehicle with one or more towed implements attached with an articulated hitch). Geometry, vehicle ground speed, and angular steering velocity are considered in the generation of maneuvering paths. Based on the specifics of real field conditions (slope, plant residue, resistance due to soil compaction, etc.), the initial model was improved by introducing correction coefficients. An experimental setup is proposed using a tractor with two towed implements and a testing method involving point-to-point path comparison. The modeling method has potential for integrating more complex procedures (such as path generation, geolocation, and following) into the design of a maneuvering management system for agricultural machines, which can contribute to the efficiency of field operations.
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Submitted on : Monday, February 14, 2022 - 11:37:56 AM
Last modification on : Sunday, June 26, 2022 - 1:58:01 AM



Andrii Yatskul, Frédéric Cointault, Jean-Pierre Lemiere. Maneuverability of Wheeled Poly-Articulated Agricultural Vehicles: Modeling and Field Testing. Transactions of the ASABE, American Society of Agricultural and Biological Engineers, 2021, 64 (6), pp.2111-2124. ⟨10.13031/trans.14262⟩. ⟨hal-03572418⟩



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