Research Article | OPEN ACCESS
Design and Simulation of Control Systems for a Field Survey Mobile Robot Platform
1Ramin Shamshiri and 2Wan Ishak Wan Ismail
1Department of Agricultural and Biological Engineering, University of Florida, Gainesville,
FL 32611, USA
2Department of Biological and Agricultural Engineering, Universiti Putra Malaysia, Serdang, Selangor, Malaysia
Research Journal of Applied Sciences, Engineering and Technology 2013 13:2307-2315
Received: September 01, 2012 | Accepted: January 25, 2013 | Published: August 05, 2013
Abstract
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.
Keywords:
Agricultural mobile robot, DC motor, fuzzy logic, PID, lead-lag compenstor,
Competing interests
The authors have no competing interests.
Open Access Policy
This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Copyright
The authors have no competing interests.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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