Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform

المؤلفون المشاركون

Tabile, Rubens André
Godoy, Eduardo Paciência
Tangerino, Giovana Tangerino
Inamasu, Ricardo Yassushi
Porto, Arthur José Vieira

المصدر

Journal of Control Science and Engineering

العدد

المجلد 2012، العدد 2012 (31 ديسمبر/كانون الأول 2012)، ص ص. 1-10، 10ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2012-04-26

دولة النشر

مصر

عدد الصفحات

10

التخصصات الرئيسية

هندسة كهربائية
تكنولوجيا المعلومات وعلم الحاسوب

الملخص EN

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA).

One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices.

In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed.

This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS).

This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control.

The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels.

The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance.

Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Godoy, Eduardo Paciência& Tangerino, Giovana Tangerino& Tabile, Rubens André& Inamasu, Ricardo Yassushi& Porto, Arthur José Vieira. 2012. Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform. Journal of Control Science and Engineering،Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-466461

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Godoy, Eduardo Paciência…[et al.]. Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform. Journal of Control Science and Engineering No. 2012 (2012), pp.1-10.
https://search.emarefa.net/detail/BIM-466461

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Godoy, Eduardo Paciência& Tangerino, Giovana Tangerino& Tabile, Rubens André& Inamasu, Ricardo Yassushi& Porto, Arthur José Vieira. Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform. Journal of Control Science and Engineering. 2012. Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-466461

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-466461