Title :
Modelling and control of the GreenWeeder for crop row tracking
Author :
Kim Son Dang ; Katupitiya, Jayantha ; Eaton, Ray ; Kwok, Ngai M.
Author_Institution :
Sch. of Mech. & Manuf. Eng., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
GreenWeeder is a non-herbicidal autonomous weeding robot that is being developed to autonomously track crop rows to target inter-row spacing for weeding through electrocution. This work presents the experimental system identification to identify the steering system dynamics and the development of a controller to track an especially laid strip mimicking a crop row. The results of the designed controller are presented and analyzed in order to improve the performance as well as the accuracy of the robot lateral deviation from the crop rows.
Keywords :
agriculture; mobile robots; position control; robot dynamics; steering systems; GreenWeeder; crop row tracking; electrocution; nonherbicidal autonomous weeding robot; steering system dynamics; Control systems; Crops; Laser modes; Mobile robots; Navigation; Robot kinematics; Sliding mode control; System identification; Target tracking; Wheels;
Conference_Titel :
Advanced Robotics, 2009. ICAR 2009. International Conference on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-4855-5
Electronic_ISBN :
978-3-8396-0035-1
