Autonomous robotic weed control systems: A review
Computers and Electronics in Agriculture
Computers and Electronics in Agriculture
Computers and Electronics in Agriculture
Development of a row guidance system for an autonomous robot for white asparagus harvesting
Computers and Electronics in Agriculture
Variable field-of-view machine vision based row guidance of an agricultural robot
Computers and Electronics in Agriculture
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This paper deals with time-optimal control for the row guidance system of an autonomous field robot with differential drive. The movement of the robot is concretely constrained by the plant cultivation environment. A time-optimal differential velocity profile is generated based on optimal control theory to eliminate any initial error or tracking deviation. To allow for an efficient implementation on a micro-processor, a substitute controller is suggested to perform the minimum-time guidance task. The substitute with a cascade structure is proposed using PID algorithms. The computational efficiency is consequently improved and the system is more convenient to be carried out on a micro-processor. The performance of the proposed substitute system is investigated through numerical studies by comparison with the time-optimal controller. Experiments are comprehensively conducted indoors and outdoors to evaluate the proposed row guidance regime. The results show the satisfactory performance and efficiency with a high precision of +/-3cm in the field.