Fuzzy Control for Automatic Steering and Line Tracking of Agricultural Robot

Author

Jianjun, Zhou ; Man, Zhang ; Gang, Liu ; Su, Li

Author_Institution

Coll. of Inf. & Electr. Eng., China Agric. Univ., Beijing

Volume

1

fYear

2008

fDate

12-14 Dec. 2008

Firstpage

1094

Lastpage

1097

Abstract

In order to realize automatic navigation for agricultural robot, a fuzzy control method for automatic steering and a method for line tracking are conveyed in the article. The principal for fuzzy control steering and the construction of fuzzy controller are described in detail. In order to validate these two methods, agricultural robot was developed, which are refitted from a storage battery car. Navigation control system is developed based on agricultural robot using GPS, digital compass and other sensors. The robot acquires the location information by GPS and digital compass, and can realize automatic navigation using the fuzzy control steering and line tracking method. Test results indicated that the navigation lateral error was less than 0.3 m when the robot ran following the predefined line route.

Keywords

Global Positioning System; agricultural machinery; industrial robots; steering systems; GPS; agricultural robot; automatic navigation; automatic steering; digital compass; fuzzy control steering; line tracking; location information; navigation control system; storage battery car; Automatic control; Batteries; Control systems; Fuzzy control; Global Positioning System; Navigation; Robot sensing systems; Robotics and automation; Sensor systems; Testing; agricultural robot; fuzzy control; line tracking; steering;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Software Engineering, 2008 International Conference on

Conference_Location

Wuhan, Hubei

Print_ISBN

978-0-7695-3336-0

Type

conf

DOI

10.1109/CSSE.2008.605

Filename

4721943