Autonomous Vehicle Steering Control for Guidance Path Tracking
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Solution Overview
Problem
Autonomous agricultural machines require robust navigation control systems to follow guidance paths accurately without operator oversight, as they must handle anomalies and corrections independently, which is challenging due to the absence of operator input.
Innovation Solution
A mobile machine with a chassis, ground-engaging elements, and actuators, controlled by a controller that generates and combines control values based on heading and distance errors using a weight scheme to steer the machine along a guidance path, incorporating a skid-steer system and GNSS for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automated guidance is used to enable machines to follow designated paths, then operational precision is improved, but operator oversight is reduced
Solution Approach 1:
The system continuously receives feedback from GNSS positioning data and inertial measurement units to monitor the machine's actual position and orientation relative to the designated path. This feedback loop enables real-time correction of positional deviations and maintains precision while allowing the system to detect and respond to anomalies independently.
Solution Approach 2:
The automated guidance system performs self-correction by automatically adjusting steering commands based on calculated positional errors. The machine serves itself by independently detecting deviations from the path and executing corrections without operator intervention, thereby maintaining both precision and reliability.
2Adaptability or versatility
If full machine automation is implemented to eliminate operator space, then machine design flexibility is improved, but control robustness requirements increase
Solution Approach 1:
The control system integrates multiple functions including path following, positional monitoring, error calculation, and anomaly detection within a single automated framework. This multi-functional approach allows the machine to operate autonomously without operator space while maintaining robust control through integrated safety and correction mechanisms.
Solution Approach 2:
The system incorporates pre-programmed anomaly detection and correction protocols that prepare the machine to handle unexpected situations before they occur. By anticipating potential deviations and having predetermined response strategies, the system maintains robustness without requiring physical operator presence.
3Productivity
If automated guidance enables continuous operation without operator input, then productivity is improved, but navigation accuracy challenges increase
Solution Approach 1:
The system uses continuous feedback from GNSS receivers and inertial sensors to monitor positional accuracy throughout continuous operation. This real-time monitoring enables the system to maintain navigation accuracy over extended periods by detecting and correcting drift or deviations before they accumulate into significant errors.
Solution Approach 2:
The automated guidance system maintains continuous path following action without interruption by automatically recalculating positional errors and adjusting steering commands in real-time. This continuous corrective action ensures accuracy is maintained throughout prolonged operational periods without operator intervention.
Data Source
AI summary
A mobile machine having a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine and generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, determine a weight scheme for the first set of control values and the second set of control values dependent on a distance of the machine from the guidance path, combine the control signals using the weight scheme and drive the machine using the combined control signals.