Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot

Authors

  • Henry Borrero-Guerrero Universidad de Sao Paulo, Brasil Laboratorio de Robótica Móvil (LabROM)
  • Rafael Bueno-Sampaio Universidad de Sao Paulo, Brasil Laboratorio de Robótica Móvil (LabROM)
  • Marcelo Becker Universidad de Sao Paulo, Brasil Laboratorio de Robótica Móvil (LabROM)

DOI:

https://doi.org/10.21501/21454086.842

Keywords:

Ackerman geometry, fuzzy controller, Two-Track Vehicle, Lateral dynamics, mobile robot, bike model, steering angle.

Abstract

This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.

Downloads

Download data is not yet available.

Author Biographies

Henry Borrero-Guerrero, Universidad de Sao Paulo, Brasil Laboratorio de Robótica Móvil (LabROM)

Ingeniero

Rafael Bueno-Sampaio, Universidad de Sao Paulo, Brasil Laboratorio de Robótica Móvil (LabROM)

Magister Ingeniería

Marcelo Becker, Universidad de Sao Paulo, Brasil Laboratorio de Robótica Móvil (LabROM)

PhD en Ingeniería

References

Heraud, J., Lange, A., 2009, “Agricultural Automatic Vehicle Guidance from Horses to GPS: How We Got Here, and Where We Are Going”, ASABE Distinguished Lecture #33, pp. 1-67, Agricultural Equipment Technology Conference February 8-11, Louisville, Kentucky, USA.

Sigrimis, N., Antsaklis, P., Groumpos, P.P.,2010, “Advances in control of agriculture and the environment,” Control Systems, IEEE , vol.21, no.5, pp.8-12, Oct 2001.Singapore.

UNIBOTS., http://www.unibots.com/Agricultural_ Robotics_Portal.htm, accesed in Jan. 2011.

Bak, T., Jakobsen, H., 2009 “Agricultural Robotic Platform with Four Wheel Steering for Weed Detection”, Biosystems Engineering, Volume 87, Issue 2, February 2004, Pages 125-136.

Bakker, T. “An autonomous robot for weed control”, design, navigation and control”, PhD thesis - Wageningen University.

Tangerino, G., Godoy, E., Tabile, R., Souza, R., Inamasu, R., 2011, “Controle de Esterçamento de Robô Agrícola Móvel de Quatro Rodas Guiáveis”, X Simpósio Brasileiro de Automação Inteligente (SBAI).

Vilaplana, M., Leith, D., Leithead, W., Kalkkuhl, J, 2003, “Control of Sideslip and Yaw Rate in 4-Wheel Steering Cars Using Partial Decoupling and Individual Channel Design”, Proceedings of the European Control Conference 2003, 1-4 September 2003,Cambridge, UK. The IEE.

Rajamani, R., 2005 “Vehicle Dynamics and Control”, Springer-Verlag, 2005.

Manning, J., Crolla, D., 2007, “A review of Yaw Rate and Sideslip Controllers for Passenger Vehicles”, Transactions of the institute of measurement and control, pp. 117–135.

Sivanandam, S., Sumathi., Deepa, S., 2007, “Introduction to Fuzzy Logic using MATLAB”, Springer-Verlag Berlin Heidelberg.

Hakima, A., Ameli, S., 2010, “ Designing a Fuzzy Logic Controller to Adjust theAngle of Tires in Four Wheel Steering Vehicles”, 2010 11th Int. Conf. Control, Automation, Robotics and Vision, Singapure.

Zhang, J., Zhang Y., Chen L., Yang J., 2007 , “A fuzzy control strategy and optimization for four wheel steering system,” Vehicular Electronics and Safety, 2007. ICVES. IEEE International Conference on , vol., no., pp.1-6, URL: http:// ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnu mber=4456359&isnumber=4456353.

Published

2012-06-16

How to Cite

Borrero-Guerrero, H., Bueno-Sampaio, R., & Becker, M. (2012). Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot. Lámpsakos, (7), 31–38. https://doi.org/10.21501/21454086.842

Issue

Section

Articles of scientific and technological research