Research on Path Tracking for an Orchard Mowing Robot Based on Cascaded Model Predictive Control and Anti-Slip Drive Control

• Published in: Agronomy (Basel) Vol. 13; no. 5; p. 1395
• Main Authors: Li, Jun, Wang, Sifan, Zhang, Wenyu, Li, Haomin, Zeng, Ye, Wang, Tao, Fei, Ke, Qiu, Xinrui, Jiang, Runpeng, Mai, Chaodong, Cao, Yachao
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.05.2023
• Subjects: Accuracy; Adaptive control; Analysis; Angular velocity; Autonomous navigation; Constraint modelling; Control algorithms; Control systems design; Controllers; Driving ability; Efficiency; Errors; Farm machinery; Field tests; Fuzzy control; Kinematics; Lawnmowers; model predictive control; Motion stability; Mowing; mowing robot; Objective function; Optimization; Orchards; Path tracking; Predictive control; Proportional integral derivative; Robot control; Robot dynamics; Robots; Sensors; Simulation methods; Slip; slip rate; Slippage; Tires; Tracking control; Velocity; Wheels; Working conditions; China

In complex orchard environments, orchard mowing robots are prone to longitudinal slippage because of the characteristics of tires and the adhesion conditions of the road surface, which makes it difficult for the robots to maintain high-precision path tracking and autonomous navigation positioning. T...