DocumentCode
495904
Title
Modelling and control of the GreenWeeder for crop row tracking
Author
Kim Son Dang ; Katupitiya, Jayantha ; Eaton, Ray ; Kwok, Ngai M.
Author_Institution
Sch. of Mech. & Manuf. Eng., Univ. of New South Wales, Sydney, NSW, Australia
fYear
2009
fDate
22-26 June 2009
Firstpage
1
Lastpage
6
Abstract
GreenWeeder is a non-herbicidal autonomous weeding robot that is being developed to autonomously track crop rows to target inter-row spacing for weeding through electrocution. This work presents the experimental system identification to identify the steering system dynamics and the development of a controller to track an especially laid strip mimicking a crop row. The results of the designed controller are presented and analyzed in order to improve the performance as well as the accuracy of the robot lateral deviation from the crop rows.
Keywords
agriculture; mobile robots; position control; robot dynamics; steering systems; GreenWeeder; crop row tracking; electrocution; nonherbicidal autonomous weeding robot; steering system dynamics; Control systems; Crops; Laser modes; Mobile robots; Navigation; Robot kinematics; Sliding mode control; System identification; Target tracking; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 2009. ICAR 2009. International Conference on
Conference_Location
Munich
Print_ISBN
978-1-4244-4855-5
Electronic_ISBN
978-3-8396-0035-1
Type
conf
Filename
5174668
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