Two-stage guidance control scheme for high- precision straight-line navigation of a four- wheeled planting robot in a greenhouse

in Sciences Citation Index(SCI), 科學引文索引資料庫(SCI)
標題Two-stage guidance control scheme for high- precision straight-line navigation of a four- wheeled planting robot in a greenhouse
出版類型SCI(Sciences Citation Index)
出版年度2016
AuthorsChung-Liang Chang, 張仲良, Gong-Bo Song 宋公博, & Kuan-Ming Lin 林冠旻
開始頁1193
頁數11
出版日期2017 / 1
其他編號0000
中文摘要

Although agricultural robots are intended to move in straight lines in fields, they may yaw off the track because of tire slippage, surface unevenness, uneven weight distribution, or other factors. Many position-guiding technologies have been developed for agricultural robots, but their high costs have resulted in limited real-world use. Moreover, the use of large farming machinery in conjunction with the enormous tractors that are used to perform farm work can result in the destruction of cultivated land. This article presents the design and implementation of a low-cost planting robot with the capability of high-precision straight-line navigation. A two-stage guidance control scheme is proposed to regulate the robot’s heading angle and minimize the lateral error in straight-line navigation. A low-cost micro-electro-mechanical control system is used to implement the proposed scheme. The control method requires only a single-axis electronic compass, with a stabilizing algorithm to keep the compass level, to serve as a guide. The proposed robot is equipped with a mini-drilling mechanism to perform cultivation work. The proposed scheme has been experimentally tested in a greenhouse. A performance analysis of the proposed robot is discussed.

網址http://elibrary.asabe.org/abstract.asp?search=1&JID=3&confalias=t2&AID=47487&v=59&i=5&CID=t2016&T=3&urlRedirect=[anywhere=on&keyword=&abstract=&title=&author=&references=&docnumber=&journals=j&am
期刊名稱Transactions of the ASABE
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