Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover
Currently, the entire agricultural sector is under significant pressure. The causes that may explain this are different, such as climate change, market instability, and the decline in the population of agricultural workers. As a result, the agricultural tractor and machinery field is at the center o...
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MDPI AG
2025-03-01
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| Online Access: | https://www.mdpi.com/2673-4591/85/1/41 |
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| author | Salvatore Martelli Francesco Mocera |
| author_facet | Salvatore Martelli Francesco Mocera |
| author_sort | Salvatore Martelli |
| collection | DOAJ |
| description | Currently, the entire agricultural sector is under significant pressure. The causes that may explain this are different, such as climate change, market instability, and the decline in the population of agricultural workers. As a result, the agricultural tractor and machinery field is at the center of an intense technological revolution. One of the possible solutions to the aforementioned problems can be represented by agricultural vehicles equipped with autonomous driving systems. The key pillar of an autonomous driven vehicle is its autonomous driving algorithm which represents the link between the information coming from the vehicle’s sensor systems and the success of the vehicle’s operative mission. In this paper, an experimental assessment of the motion strategy for a four-wheel differential drive agricultural rover was conducted. This work is structured in three parts. First, the description of the working principles of the autonomous driving algorithm is proposed. Then, the case study and the scaled prototype designed for this purpose are described. In the end, the result obtained by the virtual model, which acts as reference case, is compared with the results that came out of the field test campaign. The outcomes show the overlap between the virtual and real results. |
| format | Article |
| id | doaj-art-34486dc0257e47798f83e494f759d5f9 |
| institution | Kabale University |
| issn | 2673-4591 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Engineering Proceedings |
| spelling | doaj-art-34486dc0257e47798f83e494f759d5f92025-08-20T03:27:28ZengMDPI AGEngineering Proceedings2673-45912025-03-018514110.3390/engproc2025085041Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural RoverSalvatore Martelli0Francesco Mocera1DIMEAS—Dipartimento di Ingengeria Meccanica e Aerospazioale, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, ItalyDIMEAS—Dipartimento di Ingengeria Meccanica e Aerospazioale, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, ItalyCurrently, the entire agricultural sector is under significant pressure. The causes that may explain this are different, such as climate change, market instability, and the decline in the population of agricultural workers. As a result, the agricultural tractor and machinery field is at the center of an intense technological revolution. One of the possible solutions to the aforementioned problems can be represented by agricultural vehicles equipped with autonomous driving systems. The key pillar of an autonomous driven vehicle is its autonomous driving algorithm which represents the link between the information coming from the vehicle’s sensor systems and the success of the vehicle’s operative mission. In this paper, an experimental assessment of the motion strategy for a four-wheel differential drive agricultural rover was conducted. This work is structured in three parts. First, the description of the working principles of the autonomous driving algorithm is proposed. Then, the case study and the scaled prototype designed for this purpose are described. In the end, the result obtained by the virtual model, which acts as reference case, is compared with the results that came out of the field test campaign. The outcomes show the overlap between the virtual and real results.https://www.mdpi.com/2673-4591/85/1/41autonomous drivingagricultural robotprecision farmingprototypefield test |
| spellingShingle | Salvatore Martelli Francesco Mocera Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover Engineering Proceedings autonomous driving agricultural robot precision farming prototype field test |
| title | Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover |
| title_full | Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover |
| title_fullStr | Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover |
| title_full_unstemmed | Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover |
| title_short | Experimental Analysis of an Autonomous Driving Strategy for a Four-Wheel Differential Drive Agricultural Rover |
| title_sort | experimental analysis of an autonomous driving strategy for a four wheel differential drive agricultural rover |
| topic | autonomous driving agricultural robot precision farming prototype field test |
| url | https://www.mdpi.com/2673-4591/85/1/41 |
| work_keys_str_mv | AT salvatoremartelli experimentalanalysisofanautonomousdrivingstrategyforafourwheeldifferentialdriveagriculturalrover AT francescomocera experimentalanalysisofanautonomousdrivingstrategyforafourwheeldifferentialdriveagriculturalrover |