Path Tracking Controller for Precision Agriculture Using Nonlinear Model Predictive Control
A new study presents a controller for guiding tractors along predefined paths in agriculture.
This research focuses on enhancing precision agriculture by developing a path tracking controller that utilizes Nonlinear Model Predictive Control (NMPC). The controller integrates multiple segments of a piecewise-linear reference path into its objective function, improving the accuracy of tractor navigation.
Additionally, the study outlines methods for selecting effective reference segments from the complete path. The proposed control system was tested in the field using a tractor managed through the Tractor Implement Management steering interface.