Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Path-Tracking Controller for Tracked Mobile Robot on Rough Terrain


    Beteiligte:
    Toshifumi Hiramatsu (Autor:in) / Satoshi Morita (Autor:in) / Manuel Pencelli (Autor:in) / Marta Niccolini (Autor:in) / Matteo Ragaglia (Autor:in) / Alfredo Argiolas (Autor:in)

    Erscheinungsdatum :

    02.01.2019


    Anmerkungen:

    oai:zenodo.org:2571922
    International Journal of Electrical, Electronic and Communication Sciences 12.0(2)



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




    All-terrain moving tracked robot

    GUO HAIFENG / MENG FAN / WU HUAXIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Rough Terrain Driving Mobile Robot

    YOUNG EUN SONG | Europäisches Patentamt | 2022

    Freier Zugriff

    Mobile robot kinematic reconfigurability for rough terrain

    Iagnemma, Karl D. / Rzepniewski, Adam / Dubowsky, Steven et al. | SPIE | 2000


    Rough Terrain Path Planning for Autonomous Ground Robot

    Truong, Xuan-Phat / Hong, Seong Hyeon | AIAA | 2024


    ROUGH TERRAIN TRANSPORT ROBOT

    SEMENOV ALEKSANDR GEORGIEVICH | Europäisches Patentamt | 2017

    Freier Zugriff