Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops

International Journal of Advanced Robotic Systems

Claudio Urrea¹  José Muñoz¹ 

关键词: Mobile Robot;    Adaptive Controllers;    Fuzzy Controller;    Obstacles Avoidance;    Path Tracking;   

DOI  :  10.5772/63966

学科分类：自动化工程

来源: InTech

【 摘 要 】

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 anti-collision 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 tra...

【 授权许可】

Unknown