Title

Nonlinear Robust Path Control For A Field Robot Scouting In Strawberry Orchards

Abstract

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.

Publication Date

1-1-2017

Publication Title

ASME 2017 Dynamic Systems and Control Conference, DSCC 2017

Volume

2

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1115/DSCC2017-5220

Socpus ID

85036610051 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85036610051

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