Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops
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 s...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2016-06-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/63966 |
| _version_ | 1818917275567128576 |
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| author | Claudio Urrea José Muñoz |
| author_facet | Claudio Urrea José Muñoz |
| author_sort | Claudio Urrea |
| collection | DOAJ |
| description | 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 tracking curves and the operating requirements of each controller, as well as the application of different errors indices for quantitatively evaluating the proposed control scheme. |
| first_indexed | 2024-12-20T00:31:29Z |
| format | Article |
| id | doaj.art-4244fd88a3d94cf693b60dee1e1f445b |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-20T00:31:29Z |
| publishDate | 2016-06-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-4244fd88a3d94cf693b60dee1e1f445b2022-12-21T19:59:54ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-06-011310.5772/6396610.5772_63966Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in CropsClaudio Urrea0José Muñoz1 Universidad de Santiago de Chile, Santiago, Chile Universidad de Santiago de Chile, Santiago, ChileThis 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 tracking curves and the operating requirements of each controller, as well as the application of different errors indices for quantitatively evaluating the proposed control scheme.https://doi.org/10.5772/63966 |
| spellingShingle | Claudio Urrea José Muñoz Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops International Journal of Advanced Robotic Systems |
| title | Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops |
| title_full | Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops |
| title_fullStr | Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops |
| title_full_unstemmed | Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops |
| title_short | Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops |
| title_sort | mobile robot based on the selection of fuzzy behaviours for following trajectories in crops |
| url | https://doi.org/10.5772/63966 |
| work_keys_str_mv | AT claudiourrea mobilerobotbasedontheselectionoffuzzybehavioursforfollowingtrajectoriesincrops AT josemunoz mobilerobotbasedontheselectionoffuzzybehavioursforfollowingtrajectoriesincrops |