Online path tracking with an integrated H∞ robust adaptive controller for a double-Ackermann steering robot for orchard waypoint navigation
Redmond R. Shamshiri,
Alireza Azimi,
Maryam Behjati
et al.
Abstract:Navigation of agricultural mobile platforms in small-scale orchards poses challenges due to narrow row-end turning spaces and the need for precise path tracking in the presence of disturbances. The objective of this study is to improve path following and rapid turning maneuvers for a double-Ackermann steering robot by employing a simulation approach for PID-based waypoint following enhanced by learning-based H∞ robust adaptive control. With the zero-speed turning radius of the robot measured at 2.85 m, the pri… Show more
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