Research on Path Tracking for an Orchard Mowing Robot Based on Cascaded Model Predictive Control and Anti-Slip Drive Control

Research on Path Tracking for an Orchard Mowing Robot Based on Cascaded Model Predictive Control and Anti-Slip Drive Control

In complex orchard environments, orchard mowing robots are prone to longitudinal slippage because of the characteristics of tires and the adhesion conditions of the road surface, which makes it difficult for the robots to maintain high-precision path tracking and autonomous navigation positioning. T...

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Bibliographic Details
Main Authors: Jun Li, Sifan Wang, Wenyu Zhang, Haomin Li, Ye Zeng, Tao Wang, Ke Fei, Xinrui Qiu, Runpeng Jiang, Chaodong Mai, Yachao Cao
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Agronomy
Subjects:
mowing robot
path tracking
model predictive control
fuzzy control
slip rate
Online Access:https://www.mdpi.com/2073-4395/13/5/1395

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