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...
Innovation has become the promising concept to overcome problems and enhance agricultural performance in agricultural research and policies. In the past, innovation was mainly seen as being developed by science or enterprises, and only recently the focus has shifted from...
The paper, prepared for the "High Level Policy Dialogue on Investment in Agricultural Research for Sustainable Development in Asia and the Pacific" (Bangkok Thailand; 8-9 December 2015), presents the Common Framework on Capacity Development for Agricultural Innovation Systems (CDAIS).The framework is a...
This paper shared lessons learnt from the project of Improving Productivity and Market Success in forage development approaches, scaling up strategies, opportunities and challenges in the process of farmer innovations and innovative interventions in the value-chain of market oriented livestock...
In this paper is proposed to conduct a first stage AKIS diagnostic exercise developing a map of the system of the actors involved in water quality protection and catchment management that interact with the farming community. Specifically we will use the...
