Multi-Reference Path Tracking Control for Agricultural Tractors
Overview
A tractor path tracking controller using NMPC with piecewise-linear paths achieved 6.1 cm cross-track error in field tests.
Generated from attributed reports · 2 days agoUpdated
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: field trial
“The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.”
Exact source · revision 1Source owner not reported
Control: teleoperated
“The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.”
Exact source · revision 1Source owner not reported
Reported quantity · mean absolute cross-track error: 6.1 percent · Basis not reported
“The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.”
Exact source · revision 1Source owner not reported
Reported quantity · NMPC solver convergence time: 3.45 hours · Basis not reported
“The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.”
Exact source · revision 1Source owner not reported
Report timeline
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- arXiv Robotics — research abstractsMulti-Reference Path Tracking Control for Agricultural Tractors
A tractor path tracking controller uses NMPC with piecewise-linear paths. Field tests show 6.1 cm cross-track error and 3.45 ms solver convergence.
Event attention history
Current attention 3·Peak within the comparable range 9（2026-10-02 06:00 UTC）·Change within the comparable range over 24 hours -49%
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