Motion control development for autonomous ground robots in agriculture task

Abstract

Motion control for autonomous ground robots to solve tasks in agriculture is investigated in this study. Motion control is designed and developed to track the reference trajectory. The model is developed in detail based on the kinematics and dynamics of the robot. The novelty of this research is to solve the problem of controlling agricultural robots on the problem of tracking a rectangular spiral trajectory. The motion controls described in this study were developed and validated in a simulation. Accuracy of the developed system is validated by measuring the error tracking using MSE and RMSE. Conclusion shows that the developed motion control for autonomous ground robots works well based on the validation results.