Design and simulation of control systems for a field survey mobile robot platform

8Citations
Citations of this article
12Readers
Mendeley users who have this article in their library.

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.

References Powered by Scopus

Fuzzy sets

71622Citations
N/AReaders
Get full text

PID control system analysis, design, and technology

2514Citations
N/AReaders
Get full text

Agricultural Robotic Platform with Four Wheel Steering for Weed Detection

169Citations
N/AReaders
Get full text

Cited by Powered by Scopus

Research and development in agricultural robotics: A perspective of digital farming

364Citations
N/AReaders
Get full text

Simulation software and virtual environments for acceleration of agricultural robotics: Features highlights and performance comparison

50Citations
N/AReaders
Get full text

Designing and Implementing a Versatile Agricultural Robot: A Vehicle Manipulator System for Efficient Multitasking in Farming Operations

12Citations
N/AReaders
Get full text

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Cite

CITATION STYLE

APA

Shamshiri, R., & Wan Ismail, W. I. (2013). Design and simulation of control systems for a field survey mobile robot platform. Research Journal of Applied Sciences, Engineering and Technology, 6(13), 2307–2315. https://doi.org/10.19026/rjaset.6.3701

Readers over time

‘14‘15‘16‘17‘18‘19‘2102468

Readers' Seniority

Tooltip

PhD / Post grad / Masters / Doc 6

60%

Lecturer / Post doc 2

20%

Researcher 2

20%

Readers' Discipline

Tooltip

Engineering 8

89%

Computer Science 1

11%

Save time finding and organizing research with Mendeley

Sign up for free
0