In this paper, a design of a fuzzy-PID controller for path tracking of a mobile robot with differential drive is proposed. The fuzzy-PID controller consists of a PID controller and a fuzzy controller with two inputs and three outputs. When the system response has the error and the error rate, the fuzzy controller can tune the parameters of the PID controller. The model based on Lagrange dynamic approach for a robot with differential drive is described. The fuzzy-PID controller and the classical PID controller are compared by simulation. The path tracking of a mobile robot with differential drive was tested using MATLAB/Simulink. The simulation results show that the fuzzy-PID controller has a better performance than the classical PID controller. The proposed controller has better convergence rate in comparison with the classical PID controller for a mobile robot with any arbitrary initial state. It has the advantages of rapid respond, high stability, tracking accuracy and good anti-interference, so the fuzzy-PID controller is the appropriate choice for path tracking control of mobile robots with differential drive
While the demand for new high-tech technologies is rapidly increasing, difficulties are presented, such as aging and population decline in rural areas. In particular, autonomous mobile robots have been emerging in the agricultural field. Worldwide, huge investment is being made in the development of unmanned agricultural mobile robots; meanwhile with the development of robots, modern farms have high expectations of increased productivity. However, in the agricultural work environment, it is difficult to solve these problems with the existing mobile robot form, due to the difficulties of various environments. Typical problems are space constraints in the agricultural work environment, the high computational complexity of algorithms, and changes in the environment. To solve these problems, in this paper, we propose a method to design and operate a mobile robot platform that can be used in a greenhouse. We represent a robot type with two drive wheels along with four casters that can operate on path and rail. In addition, we propose a technology for a multi-AI deep learning system to operate a robot, an algorithm that can operate such a robot, and a VPN-based communication system for network and security. The proposed method is expected to increase productivity and reduce labor costs in the agricultural work environment.
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