It is difficult to establish the precise mathematical model of agricultural wheeled robots with differential drive for path tracking control, due to characteristics of nonlinear, strong coupling and multivariable. Here, path tracking control is studied for agricultural wheeled robot with differential drive based on sliding mode variable structure. Firstly, the motion model of agricultural wheeled robots with differential drive is established and control goal is determined for path tracking. Then, sliding mode variable structure is applied to design the controller. Finally, tracking simulations were conducted with circle and sine curves to verify the controller’s performance, and further real tests were carried out on a circle with a radius of 7 m at a test field. The simulations show that the robot can asymptotically stabilize the given trajectory when there is external interference, and the real tests indicate a good tracking performance with a maximum tracking of 0.21 m. The effectiveness of sliding mode controller is verified for trajectory tracking control of agricultural wheeled robots with differential drive.
This paper presents Thorvald II, a modular, highly re-configurable, all-weather mobile robot intended for applications in the agricultural domain. Researchers working with mobile agricultural robots tend to work in a wide variety of environments such as open fields, greenhouses, and...
The paper aims to identify barriers to the development of Learning and Innovation Networks for sustainable agriculture (LINSA). In such networks, social learning processes take place, and knowledge about sustainable agriculture is co-produced by connecting between the different frames and...
While privatization of extension has received considerable attention with respect to implications for public and private good, less consideration has been given to structural and relational implications for knowledge sharing. Therefore this paper, presented at the 12th European IFSA Symposium...
The provision of basic market information is a service that aims to increase the efficiency of agricultural markets and contribute towards overcoming basic issues of market failure based on asymmetrical access to information. However, debate on the need for long-term...
Le Tuy, province de l'Ouest du Burkina Faso est une région soudanienne à forte pression démographique et pastorale où se posent avec acuité des problèmes de fertilité des sols. Face à la dégradation des ressources naturelles, opter vivre dans son...
