Multi-Reference Path Tracking Control for an Agricultural Tractor with Nonlinear Model Predictive Control
arXiv:2610.00057v1 Announce Type: new Abstract: Guiding a tractor along a predefined reference path is a key component of precision agriculture. This study develops a path tracking controller based on Nonlinear Model Predictive Control, which incorporates multiple segments of a piecewise-linear reference path directly into the objective function. In addition, methods for selecting viable reference segments from the full path are presented. The control system is evaluated during a field test wit
Overview
arXiv:2610.00057v1 Announce Type: new Abstract: Guiding a tractor along a predefined reference path is a key component of precision agriculture. This study develops a path tracking controller based on Nonlinear Model Predictive Control, which incorporates multiple segments of a piecewise-linear reference path directly into the objective function. In addition, methods for selecting viable reference segments from the full path are presented. The control system is evaluated during a field test with a tractor controlled via the Tractor Implement Management steering interface. The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2610.00057
