SENSOR-BASED NAVIGATION OF AGRICULTURAL AUTONOMOUS MOBILE ROBOTS

Investigation on development of autonomous mobile robots for agricultural use in a complex and mostly unstructured environment is studied. An approach that uses fuzzy-logic control and distance-based sensory data for real-time navigation of a mobile robot in an unknown farm setting is proposed This approach requires no prior knowledge of the environment and adjusts a safety margin to cope with dynamic and unforeseen conditions. The simulation and experimental results indicate that the proposed strategy navigates robot in different conditions safely and efficiently. Comparing our results with vector field histogram and preference-based fuzzy approaches revealed that the approach suggested here produces shorter and smoother paths toward goal in almost all of the test cases examined