In recent years, the interests of introducing autonomous robots by growers into agriculture fields are rejuvenated due to the ever-increasing labor cost and the recent declining numbers of seasonal agricultural workers. Among all the enabling technologies used in robot operations for agricultural products with shallow structures, controlling a robot to traverse throughout a field is challenging. In this study the motion control of a robot, custom-designed for strawberry fields, is separated into multiple phases to deal with the over-bed and cross-bed operation needs. Different sensors are used for different control phases. In particular, nonlinear robust controllers are designed for the cross-bed motion, purely relying on vision feedback. The proposed sensing and control methods are successfully validated in a commercial farm.
- Dynamic Systems and Control Division
Nonlinear Robust Path Control for a Field Robot Scouting in Strawberry Orchards
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Freese, D, & Xu, Y. "Nonlinear Robust Path Control for a Field Robot Scouting in Strawberry Orchards." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T21A006. ASME. https://doi.org/10.1115/DSCC2017-5220
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