International Journal of Fuzzy Logic and Intelligent Systems 2023; 23(2): 107-116
Published online June 25, 2023
https://doi.org/10.5391/IJFIS.2023.23.2.107
© The Korean Institute of Intelligent Systems
Young-Jae Ryoo
Department of Electrical and Control Engineering, Mokpo National University, Mokpo, Korea
Correspondence to :
Young-Jae Ryoo (yjryoo@mokpo.ac.kr)
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0/) which permits unrestricted noncommercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
In this study, we present a novel mobile robot platform designed to navigate effortlessly in narrow and cramped spaces, reminiscent of the challenging conditions encountered in smart farms. The primary objective of this proposal is to address the inherent limitations of traditional mobile platforms when maneuvering in environments densely populated with crops and obstacles. To achieve this, path-tracking control was installed in the newly designed robot to evaluate its performance. We propose an adaptive fuzzy proportional derivative (PD) controller for the developed robot to perform path tracking. We compared the performances of both controllers with different parameters and the proposed fuzzy PD controller applied to the robot platform. The effectiveness of the developed robot was experimentally assessed. The experimental results indicate that the proposed robot platform has significant potential for application in greenhouses.
Keywords: Mobile robot platform, Smart farm, Path-tracking control, Fuzzy PID controller
No potential conflict of interest relevant to this article was reported.
International Journal of Fuzzy Logic and Intelligent Systems 2023; 23(2): 107-116
Published online June 25, 2023 https://doi.org/10.5391/IJFIS.2023.23.2.107
Copyright © The Korean Institute of Intelligent Systems.
Young-Jae Ryoo
Department of Electrical and Control Engineering, Mokpo National University, Mokpo, Korea
Correspondence to:Young-Jae Ryoo (yjryoo@mokpo.ac.kr)
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0/) which permits unrestricted noncommercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
In this study, we present a novel mobile robot platform designed to navigate effortlessly in narrow and cramped spaces, reminiscent of the challenging conditions encountered in smart farms. The primary objective of this proposal is to address the inherent limitations of traditional mobile platforms when maneuvering in environments densely populated with crops and obstacles. To achieve this, path-tracking control was installed in the newly designed robot to evaluate its performance. We propose an adaptive fuzzy proportional derivative (PD) controller for the developed robot to perform path tracking. We compared the performances of both controllers with different parameters and the proposed fuzzy PD controller applied to the robot platform. The effectiveness of the developed robot was experimentally assessed. The experimental results indicate that the proposed robot platform has significant potential for application in greenhouses.
Keywords: Mobile robot platform, Smart farm, Path-tracking control, Fuzzy PID controller
The procedure of the proposed mobile robot platform design and development.
Typical models of mobile robot platforms: (a) steerable drive; (b) two-wheel-steerable drive (quad); (c) car-like; (d) two-wheel-differential drive; (e) four-wheel-differential drive.
The mechanical structure of the proposed robot platform.
Mechanical finite element method (FEM) analysis of mobile robot platform chassis.
Block diagram of the electrical system of the mobile robot platform.
Path-tracking control using PID control for linear velocity and fuzzy-PD control for angular velocity.
Experimental setup: the autonomous mobile robot with payload running on the predefined path.
Path-tracking control test using the developed mobile robot on the predefined path shaped like a rectangle.
Position errors and changes over time of
Table 1 . Experimental results by performance indexes (unit: cm).
Controller | Maximal peak-to-peak error ripple in box A | RMSE |
---|---|---|
PD1 (Kp = 0.2, Kd = 0.25) | 0.1 | 5.70 |
PD2 (Kp = 0.6, Kd = 0.25) | 0.8 | 2.18 |
PD3 (Kp = 1.0, Kd = 0.25) | 1.8 | 1.39 |
Fuzzy-PD | 0.5 | 1.72 |
The procedure of the proposed mobile robot platform design and development.
|@|~(^,^)~|@|Typical models of mobile robot platforms: (a) steerable drive; (b) two-wheel-steerable drive (quad); (c) car-like; (d) two-wheel-differential drive; (e) four-wheel-differential drive.
|@|~(^,^)~|@|The mechanical structure of the proposed robot platform.
|@|~(^,^)~|@|Mechanical finite element method (FEM) analysis of mobile robot platform chassis.
|@|~(^,^)~|@|Block diagram of the electrical system of the mobile robot platform.
|@|~(^,^)~|@|Path-tracking control using PID control for linear velocity and fuzzy-PD control for angular velocity.
|@|~(^,^)~|@|Experimental setup: the autonomous mobile robot with payload running on the predefined path.
|@|~(^,^)~|@|Path-tracking control test using the developed mobile robot on the predefined path shaped like a rectangle.
|@|~(^,^)~|@|Position errors and changes over time of