{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T13:36:49Z","timestamp":1769521009495,"version":"3.49.0"},"reference-count":30,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2013,1,4]],"date-time":"2013-01-04T00:00:00Z","timestamp":1357257600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2013,1,4]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present work which is a part of the Comprehensive Automation for Specialty Crops project (CASC). Desired trajectory tracking objective has been previously performed by using a non\u2010model based approach in this project. Long distance autonomous drive has been achieved; however the results haven't met the expectations of the project requirements. In order to provide these requirements, this study is conducted. In this study, long distance autonomous trajectory tracking for an orchard vehicle is studied. Besides longitudinal motion, lateral motion of the vehicle is also considered. The longitudinal and lateral errors are objected to keep into a region of less than 10\u2009cm.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Car\u2010like robot kinematic modeling approach is used to create desired trajectory. In order to control longitudinal velocity and steering angle of the vehicle, a controller methodology is proposed. Stability of the controller proposed is shown by using Lyapunov stability approach.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The proposed model is adapted into a four\u2010wheeled autonomous orchard vehicle and tested in an experimental orchard for long distance autonomous drives. More than 15\u2009km autonomous drive is successfully achieved and the details are presented in this paper.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>In this study, long distance autonomous trajectory tracking for an orchard vehicle is focused. A model based control strategy, including the information about longitudinal and lateral motion of the vehicle, is constructed. A new approach to create steering angles for turning operations of the orchard vehicle is introduced. It is objected that the longitudinal and lateral errors should be less than 10\u2009cm during the trajectory tracking task.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911311294237","type":"journal-article","created":{"date-parts":[[2013,4,23]],"date-time":"2013-04-23T05:30:31Z","timestamp":1366695031000},"page":"27-40","source":"Crossref","is-referenced-by-count":24,"title":["Long distance autonomous trajectory tracking for an orchard vehicle"],"prefix":"10.1108","volume":"40","author":[{"given":"Gokhan","family":"Bayar","sequence":"first","affiliation":[]}],"member":"140","reference":[{"key":"key2022020320313905300_b1","doi-asserted-by":"crossref","unstructured":"Chen, B. and Jiao, Z. 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