Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform
A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among re...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/368503 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841524461212270592 |
|---|---|
| author | Eduardo Paciência Godoy Giovana Tangerino Tangerino Rubens André Tabile Ricardo Yassushi Inamasu Arthur José Vieira Porto |
| author_facet | Eduardo Paciência Godoy Giovana Tangerino Tangerino Rubens André Tabile Ricardo Yassushi Inamasu Arthur José Vieira Porto |
| author_sort | Eduardo Paciência Godoy |
| collection | DOAJ |
| description | A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains. |
| format | Article |
| id | doaj-art-6792f6f253334905807961b61ece6846 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-6792f6f253334905807961b61ece68462025-02-03T05:53:03ZengWileyJournal of Control Science and Engineering1687-52491687-52572012-01-01201210.1155/2012/368503368503Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic PlatformEduardo Paciência Godoy0Giovana Tangerino Tangerino1Rubens André Tabile2Ricardo Yassushi Inamasu3Arthur José Vieira Porto4São Paulo State University, UNESP Sorocaba, SP, BrazilUniversity of São Paulo at São Carlos, São Carlos, SP, BrazilUniversity of São Paulo at São Carlos, São Carlos, SP, BrazilBrazilian Agricultural Instrumentation Research Corporation, São Carlos, SP, BrazilUniversity of São Paulo at São Carlos, São Carlos, SP, BrazilA current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA). One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS). This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.http://dx.doi.org/10.1155/2012/368503 |
| spellingShingle | Eduardo Paciência Godoy Giovana Tangerino Tangerino Rubens André Tabile Ricardo Yassushi Inamasu Arthur José Vieira Porto Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform Journal of Control Science and Engineering |
| title | Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform |
| title_full | Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform |
| title_fullStr | Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform |
| title_full_unstemmed | Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform |
| title_short | Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform |
| title_sort | networked control system for the guidance of a four wheel steering agricultural robotic platform |
| url | http://dx.doi.org/10.1155/2012/368503 |
| work_keys_str_mv | AT eduardopacienciagodoy networkedcontrolsystemfortheguidanceofafourwheelsteeringagriculturalroboticplatform AT giovanatangerinotangerino networkedcontrolsystemfortheguidanceofafourwheelsteeringagriculturalroboticplatform AT rubensandretabile networkedcontrolsystemfortheguidanceofafourwheelsteeringagriculturalroboticplatform AT ricardoyassushiinamasu networkedcontrolsystemfortheguidanceofafourwheelsteeringagriculturalroboticplatform AT arthurjosevieiraporto networkedcontrolsystemfortheguidanceofafourwheelsteeringagriculturalroboticplatform |