Dynamic Modeling and Identification of an Agriculture Autonomous Vehicle

Abstract

In the present article, it is presented the modeling and identification of an autonomous vehicle that has been designed for agricultural tasks. With the purpose of defining the best model structure, different models have been presented. Particularly, it is assumed that the lateral and longitudinal dynamics are decoupled dynamics, and based on this assumption these are modeled and identified in an isolated way. Particular emphasis was made in lateral and rotational dynamics. The vehicle under study is a quadricycle (ATV) that has been modified and adapted to work in an autonomous way. It has been presented simulation proofs and experimentation with the real vehicle that allows guaranteeing the performance of the developed models.