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 "Food 360°: International Conference-cum-Exhibition on Agribusiness and Food Processing, November 05-06, 2012, Hotel Taj Krishna, Hyderabad", focuses on Indian agriculture, which remains the most important sector for India. However, despite its importance, various indicators from the sector show that...
The Establishment of the Rahad Scheme in Eastern Sudan in the 1970s established an agricultural innovation system where formal actors such as extension, research, finance institutions and informal actors such as agro pastoral organizations are networking to provide better livelihoods...
With irrigated vegetables development, interventions on the uses of improved inputs such as water lifting devices; varieties; on-farm water, nutrient and pest management, and access to credit and market information were introduced in Atsbi-Womberta district, Ethiopia. Besides, skill and uptake...
This paper describes a novel approach to create a collaborative space for grassland innovations contributing to profitability of European grassland farms while preserving environmental benefits. Innovative modes of collaboration between practice and science are enabled by an international thematic network across eight European member...
