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 outlines key areas of intervention that are identified as the core of FAO's strategy on strengthening Agricultural Innovation Systems (AIS) across multiple areas of work (e.g. research and extension, agroecology, biotechnology, green jobs, resourcing etc.) for achieving sustainable...
Graduate programs in agriculture and allied disciplines in Ethiopia are expected to make concrete contribution to market-oriented development of smallholder agriculture. This, among others, calls for realignment and engagement of the programs with smallholder farmers and, value chain, R&D and...
In this paper the High Nature Value (HNV) livestock farming systems are defined. These systems are found mainly in marginal areas where physical factors, and in some cases social factors, have prevented intensification of land-use. NV-LINK is a Horizon2020 project that seeks to improve...
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...
