Turning control of a mobile robot for greenhouse spraying based on dynamic sliding mode control

Abstract

The road of a greenhouse is both damp and narrow, and there are both ground obstacles and space obstacles in a greenhouse, which easily cause the instability problem for a four-wheel independent driving greenhouse spraying mobile robot turning in the greenhouse. In order to improve the steering performance of the greenhouse spraying mobile robot, based on the characteristics that each wheel torque of the robot can be separately controlled, the dynamic model of the four-wheel independent steering system is firstly established using D'Alembert's principle and choosing the sideslip angle and the yaw velocity as the state variables. Then, based on the theory of sliding mode control, a dynamic sliding mode control strategy with exponential approaching rate is proposed by adopting the sideslip angle and the yaw velocity as the joint control variables in order to make the sideslip angles be in the stable range and make the yaw velocity track the desired value well. Finally, the simulation of the steering performance is performed using MATLAB/Simulink. The control response curves of the yaw velocity and the sideslip angle of the robot's mass center in a step input and in a sinusoidal input are obtained, respectively. It is shown from the simulation results that compared with the feedforward-feedback control method, the proposed dynamic sliding mode control strategy based on the established dynamic model is effective to improve the turning control stability of the mobile robot for greenhouse spraying. The experiment results further verify the feasibility of the proposed turning control strategy.

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

“…Flat-floor walking was the first test for a legged mobile robot, Dante II including body translation, turning [48], maximum body lifts [49], [50], and coordinated winch operation [15], [51]. The next test is walk on a 30 o , 7-m-long ramp while maintaining a gravity-balancing tension on the tether cable including walking, turning, and obstaclecrossing capabilities [15], [52], [53].…”

Technology for Agriculture to increase food Production and Quality: A review

“…(Min Hyuc Ko, Kyoung Chul Kim, Beom Sahng Ryuh, Abhijit Suprem and Nitaigour P Mahalik et al,2013) [10] The problem of using navigation methods has been solved using deliberative and pseudo-reactive techniques. (Ehsan Kamran, Asadullah Mirasi, Mousarreza samadi et al, 2014) [11] To solved instability problem for a four-wheel independent driving mobile robot turning in the greenhouse. In order to improve the steering performance each wheel torque of the robot can be separately controlled, the dynamic model of the four-wheel independent steering system is firstly established by using the D'alembert's Principle and choosing the sideslip angle and the yaw velocity as the state variables approaching rate is proposed by adopting the sideslip angle and the yaw velocity as the joint control variables in order to make the sideslip angle be in the stable range and make the yaw velocity track the desired value well.…”

Evaluation of navigation system of a robot designed for greenhouse spraying

“…They have also showed that robots for greenhouses can be constructed using the Thorvald II modular system without making platform-specific alterations to code or the electric system. Guoqin et al (2017) concentrated on how a four-wheel autonomous driving greenhouse spraying mobile robot turning in the greenhouse could boost turning control stability. A complex exponential-reaching sliding mode control technique is introduced by taking the sideslip angle of the mass center and the robot's yaw speed as the control system's state controlled variables.…”