A path-tracking variant of Hybrid A* and a two-stage MPC controller keep agricultural vehicles close to furrow reference lines while enforcing curvature and full-body collision constraints in simulation.
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Path-Tracking Hybrid A* and Hierarchical MPC Framework for Autonomous Agricultural Vehicles
A path-tracking variant of Hybrid A* and a two-stage MPC controller keep agricultural vehicles close to furrow reference lines while enforcing curvature and full-body collision constraints in simulation.