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...
Multi-actors networks are increasingly used by farmers to link between them and to be interactively connected with other partners, such as advisory organizations, local governments, universities, and non-farm organizations. Given the importance assigned to the agricultural innovation by EU resorting...
This paper describes a process for stimulating this engagement to develop a shared understanding of systemic problems, challenge prevalent institutional logics, and identify individual and collective actions that change agents might undertake to stimulate system innovation. To achieve this the...
For an intelligent agricultural robot to reliably operate on a large-scale farm, it is crucial to accurately estimate its pose. In large outdoor environments, 3D LiDAR is a preferred sensor. Urban and agricultural scenarios are characteristically different, where the latter...
Given the diversity and context-specificity of innovation systems approaches, in March 2007 the World Bank organized a workshop in which about 80 experts (representing donor agencies, development and related agencies, academia, and the World Bank) took stock of recent experiences...
