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Publicatie
Point-to-Point Navigation for a Cost-Efficient Agricultural Robot
Boekbijdrage - Boekhoofdstuk Conferentiebijdrage
To reduce the labour cost and operating time on
the field, there is an ongoing trend towards heavier and wider
machinery in agriculture. This, however, has a negative impact
on soil quality, structure and biodiversity, which result in overall
yield reduction. The use of multiple small scale autonomous
robots for field applications offers the potential to overcome these
problems, while further reducing the growing labour cost. This
article focuses on the development of a point-to-point navigation
system for a price-efficient robot, only using a Global Navigation
Satellite System Real-Time Kinematic (GNSS RTK) and an
Inertial Measurement Unit (IMU) as sensors. The implementation
of the algorithm will be done in Robot Operating System (ROS),
from which the core is running on a Raspberry Pi. A Fuzzy Logic
and Sliding Mode Control (SMC) algorithm have been evaluated
through simulation. The SMC-based control algorithm benefits
an easy implementation and depends on very little parameters.
The Fuzzy Logic algorithm is more complex to implement, but is
more intuitive for the programmer. Because of the good stability
and the limited set of implementation parameters the SMC-based
algorithm was selected and implemented on the robot platform
Boek: PROCEEDINGS of the 2019 Symposium on Information Theory and Signal Processing in the Benelux
Pagina's: 126 - 133
Aantal pagina's: 8
ISBN:9789491857034
Jaar van publicatie:2019
Toegankelijkheid:Open