Long distance autonomous trajectory tracking for an orchard vehicle

Purpose - The purpose of this paper is to present work which is a part of the Comprehensive Automation for Specialty Crops project (CASC). Desired trajectory tracking objective has been previously performed by using a non-model based approach in this project. Long distance autonomous drive has been achieved; however the results haven't met the expectations of the project requirements. In order to provide these requirements, this study is conducted. In this study, long distance autonomous trajectory tracking for an orchard vehicle is studied. Besides longitudinal motion, lateral motion of the vehicle is also considered. The longitudinal and lateral errors are objected to keep into a region of less than 10 cm.