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
12-15-2019
Length of Campus-only Access
3 years
Access Status
Masters Thesis (Open Access)
STARS Citation
Menendez-Aponte, Pablo, "Approximated Control Affine Dynamics Mode For an Agricultural Field Robot Considering Wheel Terrain Interaction" (2016). Electronic Theses and Dissertations. 5323.
https://stars.library.ucf.edu/etd/5323