An efficient trajectory tracking using mutually-coupled control approach for four-wheeled steering/drive agricultural robot | Faculty Open Information System

An efficient trajectory tracking using mutually-coupled control approach for four-wheeled steering/drive agricultural robot

in International Symposium (poster paper), 國際研討會(全文海報發表)
標題An efficient trajectory tracking using mutually-coupled control approach for four-wheeled steering/drive agricultural robot
出版類型國際研討會(全文海報發表)
出版年度2016
AuthorsGong-Bo Song, 宋公博, Kuan-Ming Lin 林冠旻, & Chung-Liang Chang 張仲良
出版日期May 23 2016 12:0
會議地點Niigata
其他編號0000
中文摘要

This paper aims to propose a mutual-coupled steering and drive feedback control method to enhance the movement mobility of agricultural robot. In this way, the robot is allowed the minimum steering radius to reduce the time for turning and also the space required for turning. Besides, the proposed method can adaptively adjust the
rotation speed and steering direction of each wheel to avoid misalignment of the
heading of each wheel due to slippage. This method has been simulated in terms of
circular and ellipse curve tracking. The simulation results are compared with those of
traditional steering control method. The simulation results verify the effectiveness and performance of proposed method.

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