Robust digital control for autonomous skid-steered agricultural robots
There are two main issues to consider when designing a controller for autonomous off-road vehicles: velocity and terrain irregularities. Whereas the first one is measurable, the second one is very difficult to determine. Solutions to cover these issues could be very complex and difficult to implemen...
| Autores: | , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2018 |
| País: | España |
| Institución: | Universidad Nacional de Educación a Distancia |
| Repositorio: | e-spacio. Repositorio Institucional de la UNED |
| Idioma: | inglés |
| OAI Identifier: | oai:e-spacio.uned.es:20.500.14468/29820 |
| Acceso en línea: | https://hdl.handle.net/20.500.14468/29820 |
| Access Level: | acceso abierto |
| Palabra clave: | 1203.17 Informática Skid-steered robot Robust digital control Guidance control RST-controller Digital pole placement Autonomous off-road vehicles Agricultural robotics |
| Sumario: | There are two main issues to consider when designing a controller for autonomous off-road vehicles: velocity and terrain irregularities. Whereas the first one is measurable, the second one is very difficult to determine. Solutions to cover these issues could be very complex and difficult to implement in an embedded system with limited resources. The results obtained in our previous research for an adaptive approach implemented in a tractor with varying hitch forces, lead to the improvements presented here. This paper proposes a robust digital RST pole placement controller design for the lateral position, with sensitivity functions tuned to cover uncertainties and non-linearities not considered in the model. Simulations were implemented to assess the performance of the system and the controller implementation was applied to a skid-steered agricultural robot with limited computational resources and a state-of-the-art navigation system, which delivered satisfactory results. |
|---|