Control system design of spraying robot

Automatic control system of spraying robot in field was designed for reducing working strength and risk to human body for manual spraying. The design of system includes two parts: the design of guidance control system and spraying control system. The approach of guidance presented here is a simple and effective solution for the path tracking problem of a 4-Wheel Differentially Steered (4WDS) mobile robot using a PID controller which can reduce speed when turn the corner to enhance the guidance precision. The proposed control strategy uses a simple method to avoid motion interference among the four wheels. Control of the platform is provided through a platform computer (PC104 system). Experiment results demonstrate that this controller can ensure the robot to turn at small radius and adjust its advance speed as turning the corner automatically. The machine structure and control system of spraying system were also described. Experiments of spraying control in greenhouse were preceded and the results indicated the spraying system could accomplish spraying control command and realizing automatic spraying.