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Abstract
Within the safe driving process, particularly in the field of agriculture where a robotic platform intervenes, it is necessary to safeguard both the structure and its environment. In the literature, applications oriented to “self-driving” can be found, where the objective is to achieve strategies that guide and control systems such as cars or robots immersed in dynamic environments. The present work proposes an option for a robot in differential configuration (specifically the CERES platform) to move safely in a crop, preventing collisions or damage to it and its environment. In this way, the result is the implementation of a control based on a predictive control technique, where the dynamic restrictions and saturations of the control signals are integrated within the objective function to be solved. The control developed consider the maximum and minimum speed restrictions provided by the electric motors used. The mean square error and its variance were the statistical criteria used as metrics when verifying the behavior of the system when following a reference trajectory.
References
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