On-Tracking Control of Agricultural Mobile Robot Based on Inner Information

This paper described an agricultural mobile robot which was refitted by FT4040 tractor. A position calculation method using inner information was proposed, and the tractor straight-line tracking control was researched by fuzzy control theory. The position and posture of the tractor were calculated using the information which detected by the inner sensors, a fuzzy controller was designed for straight-line tracking control. The lateral offset, heading angle and steering angle were selected as the input variable of the controller, the output variable of the controller was the steering motor speed. Test results indicated that the precision of position detecting system was higher, and the fuzzy controller could meet the demand of straight-line tracking control in short distance. The tractor could be controlled effectively while the information of visual navigation system and GPS navigation system were unstable or missing.