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

[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...

[学科分类] 自动化工程

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