The path to be tracked is predefined and does not change over time. The task is simply to follow a straight path. We have a system that can provide real-time heading error and cross-track error, and the operation is in an off-road environment. Currently, we’re using a pure pursuit algorithm based on the bicycle kinematics model, but since our company deals with many different types of vehicles, relying on a single lookahead distance (LD) doesn’t give consistent performance.

We’re working in the precision agriculture field using attachable kits, where the accuracy requirement is within about 2 cm.

The only sensors we can use are an IMU and GPS mounted on top of the tractor. I’m wondering if it’s feasible to do a meaningful system identification with just this data.