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Autonomous Weeder for Christmas Trees – Basic Development and Tests

Figure A2 Body of iterating subsystem with the following blocks:

• The For Iterator outputs a value (1, 2, 3, ... updated for each iteration of the subsystem)
• The StepGenerator converts the iteration count to a pulse length to simulate
• The ParamCEEX_Predictor simulates the state of the vehicle look_ahead_time in the future. The outputs are:
  • The simulated position (relative to reference)
  • The simulated heading (relative to reference)
  • The steering actuator feedback (i.e. the simulated steering angle).
• The inputs are:
  • The (perceived) position (relative to reference).
  • The heading (relative to reference)
  • The steering actuator feedback (i.e. the current steering angle)
  • The vehicle speed
  • The expected change in steering actuator position (feedback value) and when this change occurs
  • Configuration constants (how far ahead in the future should the simulation go, what is the distance from the rear wheel center to the antenna (along x axis)).
• The Error Function block then calculates the error value corresponding to the simulated vehicle state.
• The HoldMinimum block then remembers which control pulse gave the least simulated error. This is the output from this subsystem!

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Version 1.0 November 2005, © Danish Environmental Protection Agency