PDF (Español (España))
FLIP
This journal provides immediately free access to its contents under the principle that make available the research results for free to the public, helps for a greater global exchange of knowledge.
Therefore, the journal invokes the Creative Commons 4.0
License attributions: Recognition – Non-commertial - Share equal. Commercial use and distribution of original or derivative works are not permitted and must be done with a equal license as the one that regulate the original work.
Abstract
Agriculture is considered as one of the most essential activities for human beings, mainly because food is obtained through it. With the aim of increasing production and improving the state of food and even the health of farmers, different robots have started to be used, in what is currently known as precision agriculture. With this purpose the Ceres agricultural robot was designed and built to mainly assist vegetable crops. In this document, the different steps that were developed to achieve the tracking of linear and angular velocities by the robot using a dynamic controller are shown. First, the mathematical modeling of the robot and the identification of the model parameters are shown. Subsequently, the linearization of the model is found, and given the coupling between linear and angular velocities, the design of dynamic decouplers at an operating point determined by the references to follow. Finally, a PI controller with an integral double action is used and it is programmed in an embedded system in order to verify the controller performance using hardware in the loop (HIL) tests. The results show stabilization times and an adequate input following for future integrations with the real plant and trajectory controllers.
References
[2] S. L. Hendriks, “The food security continuum: a novel tool for understanding food insecurity as a range of experiences,” Food Secur., vol. 7, no. 3, pp. 609–619, 2015, doi:10.1007/s12571-015-0457-6.
[3] M. Karkee and Q. Zhang, “Mechanization and automation technologies in specialty crop production,” Resour. Mag., vol. 19, no. 5, pp. 16–17, 2012.
[4] S. A. Hiremath, G. W. A. M. van der Heijden, F. K. van Evert, A. Stein, and C. J. F. ter Braak, “Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter,” Comput. Electron. Agric., vol. 100, pp. 41–50, Jan. 2014, doi:10.1016/j.compag.2013.10.005.
[5] Avital Bechar, “Robotics in horticultural field production,” Stewart Postharvest Rev., vol. 6, no. 3, pp. 1–11, 2010, doi:10.2212/spr.2010.3.11.
[6] D. Ball et al., “Vision-based Obstacle Detection and Navigation for an Agricultural Robot,” J. F. Robot., vol. 33, no. 8, pp. 1107–1130, Dec. 2016, doi:10.1002/rob.21644.
[7] L. Grimstad and P. From, “The Thorvald II Agricultural Robotic System,” Robotics, vol. 6, no. 4, p. 24, Sep. 2017, doi:10.3390/robotics6040024.
[8] M. Quigley, B. Gerkey, and W. D. Smart, Programming Robots with ROS: A Practical Introduction to the Robot Operating System. O’Reilly Media, 2015.
[9] J. Khan, “A Standardized Process Flow for Creating and Maintaining Component Level Hardware in the Loop Simulation Test Bench,” 2016.
[10] R. D. Ahmad Abu Hatab, “Dynamic Modelling of Differential-Drive Mobile Robots using Lagrange and Newton-Euler Methodologies: A Unified Framework,” Adv. Robot. Autom., vol. 02, no. 02, 2013, doi:10.4172/2168-9695.1000107.
[11] G. M. Andaluz Ortiz, “Modelación, identificación y control de robots móviles,” QUITO/EPN/2011, 2011.
[12] J. Espinoza, “Síntesis Sistemas de Control,” Apunt. Curso, Univ. Concepción, Chile, 2003.
[13] J. R. Espinoza C., Apuntes Síntesis de Sistemas de Control - 547 504, Ninth. 2009.
[14] E. S. Saborío and V. M. A. Ruiz, “Sintonización de controladores PI y PID utilizando modelos de polo doble más tiempo muerto,” Rev. Ing., vol. 16, no. 2, pp. 23–31, 2006.
Downloads
Cited by
