Point-to-Point Navigation for a Cost-Efficient Agricultural Robot

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

ISBN:9789491857034

Jaar van publicatie:2019

Toegankelijkheid:Open