{"id":"https://openalex.org/W4385267286","doi":"https://doi.org/10.1109/tcst.2023.3291533","title":"Local Navigation and Obstacle Avoidance for an Agricultural Tractor With Nonlinear Model Predictive Control","display_name":"Local Navigation and Obstacle Avoidance for an Agricultural Tractor With Nonlinear Model Predictive Control","publication_year":2023,"publication_date":"2023-07-26","ids":{"openalex":"https://openalex.org/W4385267286","doi":"https://doi.org/10.1109/tcst.2023.3291533"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3291533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3291533","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044291688","display_name":"Riikka Soitinaho","orcid":"https://orcid.org/0000-0002-4142-1237"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Riikka Soitinaho","raw_affiliation_strings":["Chair of Agrimechatronics, Technical University of Munich, Freising, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4142-1237","affiliations":[{"raw_affiliation_string":"Chair of Agrimechatronics, Technical University of Munich, Freising, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021744500","display_name":"Timo Oksanen","orcid":"https://orcid.org/0000-0002-7006-6027"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Timo Oksanen","raw_affiliation_strings":["Chair of Agrimechatronics, Technical University of Munich, Freising, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7006-6027","affiliations":[{"raw_affiliation_string":"Chair of Agrimechatronics, Technical University of Munich, Freising, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.7638,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.93769388,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"31","issue":"5","first_page":"2043","last_page":"2054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8447901606559753},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.720079243183136},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.7152830362319946},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6768622994422913},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5469262599945068},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5353522896766663},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5080406665802002},{"id":"https://openalex.org/keywords/real-time-kinematic","display_name":"Real Time Kinematic","score":0.5073646903038025},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4840540289878845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4632071256637573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44735538959503174},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4308948516845703},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4205780029296875},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4030578136444092},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3548010587692261},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22232067584991455},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20281535387039185},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17958548665046692},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.1716354787349701},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1283666491508484},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.10578346252441406},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.10218310356140137}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8447901606559753},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.720079243183136},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.7152830362319946},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6768622994422913},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5469262599945068},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5353522896766663},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5080406665802002},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.5073646903038025},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4840540289878845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4632071256637573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44735538959503174},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4308948516845703},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4205780029296875},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4030578136444092},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3548010587692261},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22232067584991455},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20281535387039185},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17958548665046692},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.1716354787349701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1283666491508484},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.10578346252441406},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.10218310356140137},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2023.3291533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3291533","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1968721534","https://openalex.org/W1985690111","https://openalex.org/W2053222712","https://openalex.org/W2061446978","https://openalex.org/W2075694735","https://openalex.org/W2091641935","https://openalex.org/W2138948150","https://openalex.org/W2163996006","https://openalex.org/W2731565467","https://openalex.org/W2789409369","https://openalex.org/W2863749457","https://openalex.org/W2951943200","https://openalex.org/W2982472577","https://openalex.org/W2997158358","https://openalex.org/W3107233023","https://openalex.org/W3108013445","https://openalex.org/W3154209325","https://openalex.org/W3155272911","https://openalex.org/W3184462593","https://openalex.org/W3196093643","https://openalex.org/W3207305612","https://openalex.org/W3211814285","https://openalex.org/W4206830363","https://openalex.org/W4214682275","https://openalex.org/W4246135842","https://openalex.org/W4285089695","https://openalex.org/W6740679359","https://openalex.org/W6772268464"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":{"An":[0],"important":[1],"step":[2],"in":[3,40,182],"automating":[4],"agricultural":[5,17,34],"field":[6],"work":[7],"is":[8,43,143,168],"to":[9,92,103,115,145,154],"automate":[10],"the":[11,16,41,46,54,69,73,79,85,93,105,108,120,126,139,158,165,174,183],"navigation":[12],"and":[13,29,53,58,72,90,97,142],"driving":[14],"of":[15,49,107,119,131,138],"vehicles.":[18],"We":[19,123,161],"present":[20],"a":[21,129,178],"nonlinear":[22],"model":[23,39,48],"predictive":[24],"control":[25],"(NMPC)-based":[26],"path":[27,70],"tracking":[28,71],"obstacle":[30,74],"avoidance":[31,75],"approach":[32],"for":[33,56,170],"front-wheel-steered":[35],"tractors.":[36],"The":[37],"prediction":[38,180],"NMPC":[42,127],"based":[44,77],"on":[45,78,135,173],"kinematic":[47],"an":[50],"Ackermann":[51],"vehicle":[52],"actuators":[55],"speed":[57],"steering":[59],"are":[60,76],"modeled":[61],"as":[62],"first-order":[63],"systems":[64],"without":[65],"time":[66],"delay.":[67],"Both":[68,95],"cost":[80,167],"function":[81],"formulation":[82],"that":[83,125,164],"penalizes":[84],"cross":[86],"track":[87],"error":[88],"(xte)":[89],"closeness":[91],"obstacles.":[94],"simulation":[96],"real-life":[98],"experiments":[99],"were":[100,113],"carried":[101],"out":[102],"evaluate":[104],"capabilities":[106],"controller.":[109],"Multiple":[110],"test":[111],"cases":[112],"used":[114],"assess":[116],"different":[117],"aspects":[118],"controller":[121],"behavior.":[122],"show":[124,163],"achieves":[128],"xte":[130],"less":[132],"than":[133],"0.05m":[134],"straight":[136],"sections":[137],"reference":[140],"path,":[141],"able":[144],"avoid":[146],"simple":[147],"obstacles,":[148],"also":[149,162],"when":[150],"multiple":[151],"obstacles":[152],"need":[153],"be":[155],"considered":[156],"at":[157],"same":[159],"time.":[160],"computational":[166],"feasible":[169],"real-time":[171],"applications":[172],"field,":[175],"even":[176],"with":[177],"long":[179],"horizon":[181],"NMPC.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-11T18:08:03.149640","created_date":"2025-10-10T00:00:00"}