| Title | Image | Source | Short Description |
|---|---|---|---|
| Fahrerassistenzsystem für Langholztransporter | ATZ offhighway |
Abstract Das Manövrieren von Langholztransportern ist aufgrund ihrer Länge anspruchsvoller als bei herkömmlichen Sattelschleppern. Zur Unterstützung des Fahrers wurde am Karlsruher Instituts für Technologie (KIT) ein Fahrerassistenzsystem entwickelt, das durch die Regelung der Nachläuferlenkung die Spurführung erleichtert und darüber hinaus die Fahrstabilität erhöht. |
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| Development of a Driver Assistance System for Long Timber Transportation Trucks to Improve Tracking Behavior | In Proceedings of the 2011 IEEE Intelligent Vehicles Symposium |
Abstract: This paper introduces the newest development of a driver assistance system for log-hauling trucks, which transport long heavy timber from harvesting sites to distant storage yards or sawmills through off-road paths and on urban highway. Using suitable control strategies on the trailer steering unit, the long timber transportation can be more maneuverable and less hazardous. In this paper we proposed two control strategies for different driving conditions. The first one is a feedback control based on the measured articulation angles between the tractor truck and the payload as well as between the payload and the trailer. The simulation results show that the trailer could follow the trajectory of the tractor satisfactorily, if a normal road curvature was applied. On an extremely curvy road with a curvature larger than 0.1 (according to a turning radius of 10 meters), it was difficult to keep the trailer on the track of the tractor and an unstable situation could happen. As a solution to overcome this problem on extremely curvy narrow path in the forest, a feed-forward control strategy based on path prediction was investigated. Both control strategies have been applied on a 3-DOF linear yaw/plane model in computer simulations and presented promising results for the tests on real vehicles. |
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| Elektronische Deichsel für landwirtschaftliche Arbeitsmaschine – Auf dem Weg nach autonomen Landmaschinen | LAND.TECHNIK 2010 Tagungsband, S. 187-195 |
Diese Veröffentlichung stellt eine elektronische Deichsel für landwirtschaftliche Arbeitsmaschinen vor, die eine virtuelle Kopplung zwischen zwei Landmaschinen herstellen kann, damit eine mannlose Maschine einer führenden Maschine folgt und die gleiche Arbeit wie die führende gleichzeitig leisten kann. Die beiden Arbeitsmaschinen können im Feldeinsatz von einem Fahrer wie eine bedient und eingesetzt werden und die von einer Arbeitskraft im Feld bediente Leistung und Zugkraft können weiter gesteigert werden. In diesem Artikel wird zuerst der Systemaufbau der elektronischen Deichsel vorgestellt. Danach werden die Fahrmodi innerhalb der Deichsel gezeigt. Anschließend werden die Spurführung der mannlosen Maschine und die Kommunikation zwischen beiden Maschinen erläutert. Zum Schluss werden die Testergebnisse im realen Feld dargestellt. |
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| Development of an intelligent master-slave system between agricultural vehicles | In Proceedings of the 2010 IEEE Intelligent Vehicles Symposium |
This paper presents a method to develop an intelligent master-slave system between agricultural vehicles, which will enable a semi-autonomous agricultural vehicle (slave) to follow a leading tractor (master) with a given lateral and longitudinal offset. In our study not only the follow-up motions but also the site-specific control of the apparatus such as rear and front power lift was considered. In the first part of this paper the recent research works in the area autonomous farming were discussed and the restrictions of these research works were illustrated. In the second part an approach to construct a master-slave system between two agricultural vehicles was demonstrated. In the next part the mathematic modelling of this master-slave system and the simulation results about the control algorithm were demonstrated. Afterwards the result of a real field test was presented and the safety considerations about such an intelligent vehicle system were made. | |
| Electronically Controlled Towing Bar between Agricultural Vehicles | Proceedings of the 2nd International Conference on Machine Control & Guidance, Bonn |
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| Method for an electronic controlled platooning system of agricultural vehicles | In Proceedings of the 5th IEEE International Conference on Vehicular Electronics and Safety, Pune, India, 2009, pp. 161-166 |
Abstract: This paper presents a method to develop an electronic controlled platooning system, which will enable an autonomous agricultural vehicle to follow a leading tractor with a given lateral and longitudinal offset. In our study not only the follow-up motions but also the problems such as avoiding obstacle, turning at the end of the field have been considered. With the aid of the RTK GPS systems the position of the leading tractor can be obtained with accuracy in the range of centimeters. The position points of the leading tractor are transmitted by wireless modems to the following vehicle continually to provide the target position points for the guidance of the following agricultural vehicle. With the method of curve fitting a desired path for the following vehicle could be dynamically created. Based on the target position points and the path planning, the desired speed and the desired steering angle of the following tractor are calculated. In order to ensure the precise navigation of the driverless following tractor, a course tracking controller and a speed controller have to be designed and implemented. In addition to the motion control algorithms which could keep the autonomous agricultural vehicle following the leading tractor, considerations about safety and robustness of the whole platooning control system would be issued at the end of this paper. |
