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...
This paper, presented at the 8th European IFSA Symposium ( Workshop 6: "Change in knowledge systems and extension services: Role of the new actors") in 2008, discusses the innovation network Waardewerken, a Dutch network of rural entrepreneurs pioneering in multifunctional agriculture. which aims...
Ethiopian needs to achieve accelerated agricultural development along a sustainable commercialization path to alleviate poverty and ensure overall national development. In this regard, sustainable commercial of smallholder dairying provides a viable and growing opportunity; with deliberate, appropriate and sustained policy...
In comparison with the other EU (27) countries Innovation capacity indicators in Latvia remain low and considerably underperform. Problems and solutions are illustrated to represent innovation capacity in Latvia. The article consists of the following parts: first - theoretical aspects...
This paper, presented at the 8th European IFSA Symposium ( Workshop 6: "Change in knowledge systems and extension services: Role of the new actors") in 2008, discusses the FutureDairy project, which is developing more productive forage and feeding systems and testing technical...
