Way-points Coverage Control and Simulation of Orchard Vehicle for Orchard Area

This study focuses on the way-points coverage problem of unmanned vehicles in orchard areas. Firstly, a two-dimensional coordinate model is established based within orchards. This model considers both the vehicle's position and speed towards the target point well as the steering challenges involved in reaching that point. Subsequently, to provide steering torque and forward power for the orchard unmanned vehicle, taking into account its dynamic characteristics. Kinematic and dynamic controllers for way-points control are then presented, with stability proven using Lyapunov's method. Finally, three simulations are conducted to demonstrate orchard coverage capabilities using this way-points tracking control method, providing practical monitoring solutions for actual production in orchard areas.