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 European Innovation Partnership for agricultural productivity and sustainability (EIP-AGRI), which can be perceived as a platform based on interaction among farmers, researchers, and advisors/extensionists, represents a useful tool for a better understanding of applied innovation processes. Grounded in the...
This paper has been prepared from a transcript of a presentation at the Crawford Fund 2017. This talk is a synthesis of some of the emerging issues we are seeing in the digital revolution, and how we can overcome the barriers...
in the context of the EU-funded JOLISAA (JOint Learning in Innovation Systems in African Agriculture) project, four local innovation processes involving smallholders in Benin were selected for in-depth assessment: innovation in hwedo agrofishing, integrated soil fertility management (ISFM), rice parboiling and soy value chains. Stakeholders directly involved in the innovation process were interviewed. As alternative to the currently challenged transfer-of-technology...
Agricultural machinery manufacturers historically referred to the intermediate players for selling, maintenance, customer service and/or training of equipment appear to interact with farmers and end-users. Intermediate players have therefore faced the burden to master the technology, in constant evolution, and...
