Abstract

As populations and the demand for higher crop yields grow, so to does the need for efficient agricultural wheeled mobile robots. To achieve precise navigation through a field it is desirable that the control system is designed based on an accurate dynamic model. In this paper a control affine model for a custom designed skid-steer differential drive wheeled mobile robot is found. The Terramechanic wheel terrain interaction is adopted and modified to consider wheels with a torus geometry. Varying slip ratios and slip angles are considered in the terrain reaction forces, which is curve-fitted using a nonlinear least squares approach such that the achieved model is control affine. The parameters in the proposed model is identified through an extended Kalman filter so that the state variables in the model are matched. Both simulation and experiments in a commercial farm validated the proposed model and the identification approach.

Graduation Date

2016

Semester

Fall

Advisor

Xu, Yunjun

Degree

Master of Science in Aerospace Engineering (M.S.A.E.)

College

College of Engineering and Computer Science

Department

Mechanical and Aerospace Engineering

Degree Program

Aerospace Engineering; Space System Design and Engineering

Format

application/pdf

Identifier

CFE0006480

URL

http://purl.fcla.edu/fcla/etd/CFE0006480

Language

English

Release Date

December 2019

Length of Campus-only Access

3 years

Access Status

Masters Thesis (Campus-only Access)

Share

COinS