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 is based on the 8th GLOBELICS International Conference: Making Innovation Work for Society (1 - 3 November 2010, University of Malaya, Kuala Lumpur, Malaysia). The paper presents three projects of the Research Into Use Program, located in South asia, which are applying...
More than 25 years after the first implementation of Farmer Field Schools (FFS), there is a rich corpus of evidence that participation in FFS improves farmers’ knowledge, skills, and competencies. On the other hand, several studies converge to show that...
La innovación inclusiva es un proceso que involucra la coordinación de diversos actores en contextos específicos, en el cual las instituciones juegan un papel central en los procesos de aprendizaje e innovación colaborativa de la población de escasos recursos. Las...
This paper shows there is a fundamental significance of Social Learning to agricultural innovation, which can be operationalized by framing agricultural innovation as changes in understanding, practices and relationships. The use of Social Learning as a design framework supports the...
