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Abstract
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Article Information:
Design and Simulation of Control Systems for a Field Survey Mobile Robot Platform
Ramin Shamshiri and Wan Ishak Wan Ismail
Corresponding Author: Ramin Shamshiri
Submitted: September 01, 2012
Accepted: January 25, 2013
Published: August 05, 2013 |
Abstract:
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The aim of this study was to design automatic and accurate control systems for wheel speed and steering of an agricultural mobile robot. Three controllers, including lead-lag compensator, Proportional-Integral-Derivative (PID) and fuzzy logic controller were designed and simulated in this study to control the angular rate of the shaft of a DC motor actuator for a field survey mobile robot that moves between plants rows to perform image acquisition task through a digital camera mounted on a two link arm attached on the robot base. The response of the actuator model for each controller were determined and compared for a sinusoidal and a step input that simulated robot speed and positioning references respectively. Performance analysis showed the effectiveness of the PID and lead-lag compensator response for the wheel steering task, while the fuzzy logic controller design had a better performance in wheel speed control. The output of this analysis was a proved satisfaction of the proposed design criteria which results enhanced mobility of the robot in terms of fast response, speed control accuracy and smooth steering at row-end turnings.
Key words: Agricultural mobile robot, DC motor, fuzzy logic, PID, lead-lag compenstor, ,
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Cite this Reference:
Ramin Shamshiri and Wan Ishak Wan Ismail, . Design and Simulation of Control Systems for a Field Survey Mobile Robot Platform. Research Journal of Applied Sciences, Engineering and Technology, (13): 2307-2315.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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