NDLI: Flatness-Based Control of a Mechatronic Weed Killer Autonomous Robot

Content Provider	IEEE Xplore Digital Library
Author	Chocron, Olivier Delaleau, Emmanuel Fleureau, Jean-Luc
Copyright Year	2007
Description	Author affiliation: Laboratoire de recherche en mécatronique, École nationale d'ingénieurs de Brest, Technopôle Brest-Iroise, CS 73 862, 29 238 Brest, France. Email: delaleau@enib.fr (Delaleau, Emmanuel) \|\| AGRO DEAL, 17 Rue Jean Catelas, 29 200 Brest, France. Email: jc.fleureau@wanadoo.fr (Fleureau, Jean-Luc) \|\| Laboratoire de recherche en mécatronique, École nationale d'ingénieurs de Brest, Technopôle Brest-Iroise, CS 73 862, 29 238 Brest, France. Email: chocron@enib.fr (Chocron, Olivier)
Abstract	This paper describes an advanced command method for controlling a weed killer robot designed to work through corn ranks autonomously. The control task consists in guiding precisely the robot between two ranks of young corn seedlings while it weeds. The kinematic model developed shows the non linearity of the system and how it impacts the command accuracy of the robot. We bring here, for the first time, a high-level control based on non linear equations to aim for a very robust control method. Robustness is needed in this kind of applications because of the important uncertainties and perturbations in the environment. In this way, we hope the future robot will be able to work in spite of mud, cracks and rocks present on its track.
Starting Page	2214
Ending Page	2219
File Size	2921203
Page Count	6
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4374952
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechatronics Mobile robots Robot sensing systems Kinematics Service robots Robot vision systems Equations Chemicals Agriculture Wheels
Content Type	Text
Resource Type	Article

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