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Fuzzy Logic Controller Design for an Agricultural Four-Wheel Independent Mobile Robot
파블로 ( Pablo Vela Ulloa ),첸티안 ( Chen Tean ),이경환 ( Kyeong-hwan Lee ) 한국농업기계학회 2021 한국농업기계학회 학술발표논문집 Vol.26 No.2
Due to their improved maneuverability in narrow spaces and increased stability, four-wheel independent mobile robots are becoming popular in several fields, such as agriculture, electrical vehicle, and planetary exploration. However, control algorithms is complicated owing to synchronization issues, mechanical constraints, and actuators equipped. This study presents a navigation controller based on fuzzy logic method for a low velocity autonomous agricultural vehicle built on a 4 wheel independent steering configuration. This paper explores the kinematic model of a 4 wheel independent steering robot and then real time 3D simulations using ROS and Gazebo. In the simulations, virtual GPS and IMU were used as sensors. Uneven terrains or obstacles were not considered for the simulated experiments. The simulation results show the capability of the fuzzy-logic controller in controlling a 4 wheel independent steering robot. In future, the simulated experiments will be compared with field experiments. Futhermore, the field experiments will be conducted in the condition of wheel slippage and low surface friction.
Lyapunov Controller for an Agricultural Four-Wheel Independent Mobile Robot
파블로 ( Pablo Vela Ulloa ),첸티안 ( Chen Tean ),이경환 ( Kyeong-hwan Lee ) 한국농업기계학회 2022 한국농업기계학회 학술발표논문집 Vol.27 No.2
Due to their improved maneuverability in narrow spaces and increased stability, four-wheel independent mobile robots are becoming popular in several fields, such as agriculture, electrical vehicle, and planetary exploration. However, control algorithms are complicated owing to synchronization issues, mechanical constraints, and actuators equipped. This paper explores the kinematic model of a 4 wheel independent steering robot and make use of a Lyapunov controller and A-star planner for navigate a low velocity autonomous agricultural vehicle built on a 4 wheel independent steering configuration. The experiments were conducted in an even surface and the robot was equipped with incremental encoders for the driving motors and absolute encoders for the steering motors as well as a GPS TDR-3000 and a IMU LPMS-IG1 for navigation. Uneven terrains or obstacles were not considered for the experiments. The results show the capability of the controller to navigate the 4 wheel independent steering robot and reach the desired goals. In future, a local planner will be considered for obstacle avoidance and complex field experiments will be conducted in conditions of wheel slippage and low surface friction.