Control of a path following caterpillar robot based on a sliding mode variable structure algorithm

被引：38
|
作者：
Li, Zhiqiang [1 ]
Chen, Liqing [1 ,2 ]
Zheng, Quan [1 ,2 ]
Dou, Xianyao [1 ]
Yang, Lu [1 ]
机构：
[1] Anhui Agr Univ, Coll Engn, Hefei 230036, Anhui, Peoples R China
[2] Anhui Prov Engn Lab Intelligent Agr Machinery & E, Hefei 230036, Anhui, Peoples R China
来源：
BIOSYSTEMS ENGINEERING | 2019年 / 186卷
关键词：
Sliding mode variable structure control; Path following joint simulation; Tracked robot; Tall crops; Plant protection; Crop rows; TRACKING CONTROL;
D O I：
10.1016/j.biosystemseng.2019.07.004
中图分类号：
S2 [农业工程];
学科分类号：
0828 ;
摘要：
Tracked plant protection robots operating in soft, sticky soil and complex environments such as during the middle and late stages of maize cultivation can deviate significantly from their desired path. A path following control algorithm of for a tracked robot based on a sliding mode variable structure algorithm and the control system was developed. A dynamic model of the interaction between tracked chassis and soil underneath using specific fluctuation characteristics and soft soil conditions was established using multi-body dynamic simulation software. The control system was developed in MATLAB/Simulink and a joint simulation test is carried out. The simulation results show that the sliding mode variable structure algorithm could achieve better control. Field tests were carried out and the results showed that the maximum path deviation for the tracked robot using control based the algorithm was 70 mm, and the average path deviation was 30 mm. There were no out-of-control phenomena. The robot was able to carry out effective late season plant protection operations among the maize rows realising human-machine separation and environmental prevention and control. (C) 2019 IAgrE. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：293 / 306
页数：14
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