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Implementation of a Four-Wheel Drive Agricultural Mobile Robot for Crop/Soil Information Collection on the Open Field

文献类型： 外文期刊

作者： Fan, Zhengqiang 1 ; Qiu, Quan 1 ; Meng, Zhijun 1 ;

作者机构： 1.Beijing Acad Agr & Forestry Sci, Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

2.Agr Univ Hebei, Coll Mech & Elect Engn, Baoding 071000, Peoples R China

关键词： Agricultural Mobile Robot;Four-Wheel Drive;Coordinate Movement;Steering Angle Estimation;Linear Velocity Generation

期刊名称：2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC)

ISSN：

年卷期： 2017 年

页码：

收录情况： SCI

摘要： This paper elaborates the implementation of a new four-wheel drive agricultural mobile robot for open field crop/soil information collection. As most existing agricultural mobile robots share the same platforms with industry mobile robots or commercial research robots, agricultural mobile robots greatly suffer from improper shape and insufficient trafficability. To tackle this problem, the new robot is endowed with compact structure and powerful engines. It has 4 driving wheels equipped with in-wheel motors and two steering motors connected to steering gears. An industrial personal computer is employed to control both the driving motors and steering motors, through 4 motion drivers and 1 Arduino chip respectively. To make the robot move coordinately, a steering angle estimation model for front/rear wheel pairs and an optimal linear velocity generation strategy for four wheels are proposed. Simulations and experiments were conducted to verify the mobility of it.

  • 相关文献

[1]Implementation of a Four-Wheel Drive Agricultural Mobile Robot for Crop/Soil Information Collection on the Open Field. Zhengqiang Fan,Quan Qiu,Zhijun Meng. 2017

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