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- Title
Mobile Robot Based on the Selection of Fuzzy Behaviours for Following Trajectories in Crops.
- Authors
Urrea, Claudio; Muñoz, José
- Abstract
This article addresses the problem of trajectory tracking in crops by a weed sprayer mobile robot (WSMR). This problem arises because to fumigate, the robot must follow a predefined path and avoid any obstacles it may encounter. To achieve both trajectory tracking and obstacle avoidance, a control scheme based on different behaviours is proposed, which consists essentially of an adaptive controller with a reference model for trajectory tracking and a fuzzy reactive for obstacle avoidance. Each of these controllers is executed according to the selection of the fuzzy behaviour controller, which uses information delivered by anticollision sensors located on the robot. As a result of the implementation of this behaviour-based architecture and by means of computer simulations and experimental laboratory tests, the WSMR demonstrates the capability of autonomously following a desired trajectory between the rows of a crop in the presence of obstacles. The results are evaluated by taking into account trajectory tracking curves and the operating requirements of each controller, as well as the application of different errors indices for quantitatively evaluating the proposed control scheme.
- Subjects
MOBILE robot control systems; FUZZY control systems; WEED control; ROBOTIC trajectory control; TRACKING control systems; QUANTITATIVE research
- Publication
International Journal of Advanced Robotic Systems, 2016, Vol 13, Issue 3, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/63966