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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： 会议论文

第一作者： Zhengqiang Fan

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

作者机构： 1.Beijing Research Center of Intelligent Equipment for Agriculture, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China

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

会议名称： Youth Academic Conference of Chinese Association of Automation

主办单位：

页码： 408-412

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.

分类号： tp18-532

  • 相关文献

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

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