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Approximated Control Affine Dynamics Mode For an Agricultural Field Robot Considering Wheel Terrain Interaction

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Date Issued:
2016
Abstract/Description:
As populations and the demand for higher crop yields grow, so to does the need forefficient agricultural wheeled mobile robots. To achieve precise navigation through a fieldit is desirable that the control system is designed based on an accurate dynamic model. Inthis paper a control affine model for a custom designed skid-steer differential drive wheeledmobile robot is found. The Terramechanic wheel terrain interaction is adopted and modifiedto consider wheels with a torus geometry. Varying slip ratios and slip angles are consideredin the terrain reaction forces, which is curve-fitted using a nonlinear least squares approachsuch that the achieved model is control affine. The parameters in the proposed model isidentified through an extended Kalman filter so that the state variables in the model arematched. Both simulation and experiments in a commercial farm validated the proposedmodel and the identification approach.
Title: Approximated Control Affine Dynamics Mode For an Agricultural Field Robot Considering Wheel Terrain Interaction.
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Name(s): Menendez-Aponte, Pablo, Author
Xu, Yunjun, Committee Chair
Lin, Kuo-Chi, Committee Member
Moslehy, Faissal, Committee Member
University of Central Florida, Degree Grantor
Type of Resource: text
Date Issued: 2016
Publisher: University of Central Florida
Language(s): English
Abstract/Description: As populations and the demand for higher crop yields grow, so to does the need forefficient agricultural wheeled mobile robots. To achieve precise navigation through a fieldit is desirable that the control system is designed based on an accurate dynamic model. Inthis paper a control affine model for a custom designed skid-steer differential drive wheeledmobile robot is found. The Terramechanic wheel terrain interaction is adopted and modifiedto consider wheels with a torus geometry. Varying slip ratios and slip angles are consideredin the terrain reaction forces, which is curve-fitted using a nonlinear least squares approachsuch that the achieved model is control affine. The parameters in the proposed model isidentified through an extended Kalman filter so that the state variables in the model arematched. Both simulation and experiments in a commercial farm validated the proposedmodel and the identification approach.
Identifier: CFE0006480 (IID), ucf:51410 (fedora)
Note(s): 2016-12-01
M.S.A.E.
Engineering and Computer Science, Mechanical and Aerospace Engineering
Masters
This record was generated from author submitted information.
Subject(s): Wheel Terrain Interaction Model -- Extended Kalman Filter -- EKF -- Wheeled Mobile Robots -- Terramechanics
Persistent Link to This Record: http://purl.flvc.org/ucf/fd/CFE0006480
Restrictions on Access: campus 2019-12-15
Host Institution: UCF

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