1999 Volume 61 Issue 4 Pages 85-93
Generally, optimal time/path problems of tractors on the headland are discussed from Bang-Bang principle perspective. But actual tractor behavior when turning is influenced by delay-time of operator response or lag-time of steering mechanism produced by inertia. This paper has two objectives: one is to propose a new approach that will estimate the human operator and vehicle inertia properties for optimal time/path problem at the headland based on the results of part one. The other is to investigate turning behavior of the car-like-robots at the headland. The results obtained by simulations are in good agreement with the field tests. Thus the developed model and the proposed method can be adopted for agricultural car-like-robots such as a autopilot tractor.
