Path-Tracking in Double Spiraliform Sowing Fields with Agricultural Robotics

24 Pages Posted: 30 Sep 2023

See all articles by Judith Samaniego

Judith Samaniego

affiliation not provided to SSRN

Elifalet López-González

affiliation not provided to SSRN

Evgeni Magid

affiliation not provided to SSRN

Edgar Alonso Martínez-García

affiliation not provided to SSRN

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.

Suggested Citation

Samaniego, Judith and López-González, Elifalet and Magid, Evgeni and Martínez-García, Edgar Alonso, Path-Tracking in Double Spiraliform Sowing Fields with Agricultural Robotics. Available at SSRN: https://ssrn.com/abstract=4589037 or http://dx.doi.org/10.2139/ssrn.4589037

Judith Samaniego

affiliation not provided to SSRN ( email )

No Address Available

Elifalet López-González

affiliation not provided to SSRN ( email )

No Address Available

Evgeni Magid

affiliation not provided to SSRN ( email )

No Address Available

Edgar Alonso Martínez-García (Contact Author)

affiliation not provided to SSRN ( email )

No Address Available

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