Characterization of Physical Parameters of an Agricultural Electric Vehicle based on the Dynamic Analysis in a Simulated Environment

Alegre, Yan C.; Podewils, Tailon A.; Penaloza, Elmer A. G.; Lima, Sigmar de; Leston, Luciano Anacker

doi:10.1109/icsc50631.2021.00070

Cited by 2 publications

(1 citation statement)

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“…It is necessary to highlight that when used in fields, these vehicles require better stability and precision to adapt their behaviour to abrupt changes on the ground, ambient conditions, and driving modes. Likewise, using electric vehicles for these implementations requires analyzing recharging modes and adopting control methods that consider previously mentioned changes [4], and make them smarter. As a particular case, electric agricultural tractors represent zero-emission ecological solutions.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Hardware-in-the-Loop Emulation of Path Tracking in Low-Cost Agricultural Robots

Moreno,

Ouardani,

Chaparro-Arce

et al. 2023

Vehicles

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Reducing costs and time spent in experiments in the early development stages of vehicular technology such as off-road and agricultural semi-autonomous robots could help progress in this research area. In particular, evaluating path tracking strategies in the semi-autonomous operation of robots becomes challenging because of hardware costs, the time required for preparation and tests, and constraints associated with external aspects such as meteorological or weather conditions or limited space in research laboratories. This paper proposes a methodology for the real-time hardware-in-the-loop emulation of path tracking strategies in low-cost agricultural robots. This methodology enables the real-time validation of path tracking strategies before their implementation on the robot. To validate this, we propose implementing a path tracking strategy using only the information of motor’s angular speed and robot yaw velocity obtained from encoders and a low-cost inertial measurement unit (IMU), respectively. This paper provides a simulation with MATLAB/Simulink, hardware-in-the-loop with Qube-servo (Quanser), and experimental results with an Agribot platform to confirm its validity.

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Section: Introductionmentioning

confidence: 99%