Path-Tracking in Double Spiraliform Sowing Fields with Agricultural Robotics
24 Pages Posted: 30 Sep 2023
Abstract
This study presents a navigation planning approach for agricultural wheeled robots sowing tasks in double spiral fields approached by modeling and simulation. The approach addresses two key issues: spiral-type trajectory generation and tracking control based on variable structure analysis. The robot successfully navigates through three combined routes consisting of an upward spiral, a linear middle path, and a downward spiral path. Path generation and tracking are nonlinear models, where sliding mode control tackles the problem effectively and robustly under critical perturbations. To validate the proposed approach, numerical simulations are conducted using the analytical kinematic and dynamic model for robot driving and steering. Overall, this research offers an analytical approach to navigation planning for agricultural wheeled robots that has been demonstrated to be effective and robust through simulations.
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