Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

Self Cite

The paper deals with comparing electricity power consumption of various control algorithms by simulating differential mobile robot motion control in a vineyard row. In field of autonomous mobile robotics, the quality of control is a crucial aspect. Besides the precision of control, the energy consumption for motion is becoming an increasingly demanding characteristic of a controller due to the increasing costs of fossil fuels and electricity. A simulation model of a differential drive mobile robot motion in a vineyard row was created, including robot dynamics for evaluating motion consumption, and there were implemented commonly used PID, Fuzzy, and LQ control algorithms, the task of which was to navigate the robot through the centre of vineyard row section by measuring distances from trellises on both robot sides. The comparison was carried out using Matlab software and the best results in terms of both power consumption and control accuracy were achieved by LQI controller. The designed model for navigating the robot through the vineyard row centre and optimized controllers were implemented in a real robot and tested under real conditions.

Section: Comparison Of Control Algorithms By Simulating Power Consumption Of Differential Drive Mobile Robot Motion Control In Vineyard Rmentioning

confidence: 99%

Section: Navigation Algorithmmentioning

confidence: 99%

Comparison of Control Algorithms by Simulating Power Consumption of Differential Drive Mobile Robot Motion Control in Vineyard Row

Hrubý

Marko

Olejár

et al. 2021

Self Cite

“…Multiple researches developed new robots for cultivation of crops, such as apple (Lv et al, 2019), orange (Garner et al, 2006), tomato (Li et al, 2019), strawberry (Khosro Anjom and Vougioukas, 2019;Aliasgarian et al, 2015), kiwifruit (Williams et al, 2019), grape (Luo et al, 2018), heavy-weight crops (Roshanianfard et al, 2018;Kamata et al, 2018;Roshanianfard andNoguchi, 2017, 2018b;Roshanianfard, 2018), and pumpkin (Roshanianfard andNoguchi, 2016, 2018a;Roshanianfard et al 2020Roshanianfard et al , 2021. Certain researchers applied smart systems on commercialized platforms, such as tractors (Wang and Noguchi, 2019), combines (Zhang et al, 2013), boats (Liu et al, 2017), all-terrain-vehicles, utility vehicles (Cviklovič et al, 2016), drones (Kashkarov et al, 2018), and drones for digital farming applications (Roshanianfard et al, 2019).…”

mentioning

confidence: 99%

Dynamic Modelling and Motion Control of a 4-DOF SCARA Robotic Arm for Various Farm Applications

Roshanianfard

Nematzadeh

2021

Agriculture as a key industry for human food suply will face various concerns in near future. This research is complementary and aims to present the dynamic modelling and simulation, as well as algorithm development of a 4-DOF SCARA-type robotic arm designed for real agricultural cultivation process, such as seeding, watering, fertilizing, weeding, etc. In terms of a previously designed system, the equations of motion profile were solved (acceleration and deceleration control of joints) to reduce inertia, ensure a smooth motion, and minimize torque requirement. The algorithm is evaluated by PTP motion, TCP linear motion, and spline motion. The results show that the developed algorithm can move the TCP using ST-profile. Furthermore, it can control all joints for an estimated time duration. A novel method was developed to manoeuvre the TCP along the shortest path to reach a goal point. Finally, the algorithm was evaluated in a closed path inside the working space.

“…The precision reference voltage sources (RVS) are broadly used. However, their application is usually needed in creation of the analogue-to-digital and digital-to-analogue converters (ADC and DAC), which are a part of an inventory of electric devices, control systems power supply, automated process control systems of both production and agricultural objects (Cviklovič et al, 2016;Hsu et al, 2013).…”

mentioning

confidence: 99%

Level Reduction of Output Noise of Reference Voltage Sources

Bondar

Zhavoronkova

Vostrukhin

et al. 2018

Technologies for processing of digital signals find broad application in all spheres of the human activity, including agriculture. Further perfecting of these technologies is related to increasing of resolving power in analogue-to-digital and digital-to-analogue converters, requiring the improvement of quality indicator of the reference voltage sources such as noise level. This paper presents the possibilities for level reduction of output noise of the reference voltage sources. Circuit solutions of the single-stage and twostage, unipolar and bipolar low-noise sources of stable voltage of direct current produced on the basis of standard integral chips of voltage stabilizers are observed. The proposed circuit solutions provide reduction of output noise level of the reference voltage sources to the level of intrinsic noise of the operational amplifiers, which are part of the developed devices. It should be emphasized that single-stage unipolar low-noise sources of stable voltage of direct current are characteristic by the inversion of output voltage polarity that takes place in accordance with the polarity of output voltage of voltage stabilizer integral chip.