Abstract
The feedback control system that is used to autosteer an intelligent vehicle requires the real-time estimation of the angle turned by the front wheels if the machine uses Ackerman steering, or the angle turned by the rear wheels for vehicles that use inverse Ackerman steering. Articulated vehicles, on the other hand, feature nonturning wheels, as steering is achieved by turning one part of the vehicle’s structure with respect to the other around an articulation joint. Therefore, these vehicles do not use sensors to measure the angle turned by the wheels, so they will not be discussed in this chapter. The calibration procedure described in the following paragraphs is appropriate for the most common types of agricultural vehicles: front wheel steered tractors and sprayers, harvesters and pickers, and undersized utility vehicles. However, any other off-road vehicles that steer by turning their front or rear wheels, such as lawn mowers and domestic robotic platforms, can also use it to automate navigation.
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Rovira Más, F., Zhang, Q., Hansen, A. (2010). Electrohydraulic Steering Control. In: Mechatronics and Intelligent Systems for Off-road Vehicles. Springer, London. https://doi.org/10.1007/978-1-84996-468-5_7
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DOI: https://doi.org/10.1007/978-1-84996-468-5_7
Publisher Name: Springer, London
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