Development of a Robotic Platform with Autonomous Navigation System for Agriculture

Development of a Robotic Platform with Autonomous Navigation System for Agriculture

Blog Article

The development of read more autonomous agricultural robots using a global navigation satellite system aided by real-time kinematics and an inertial measurement unit for position and orientation determination must address the accuracy, reliability, and cost of these components.This study aims to develop and evaluate a robotic platform with autonomous navigation using low-cost components.A navigation algorithm was developed based on the kinematics of a differential vehicle, combined with a proportional and integral steering controller that followed a point-to-point route until the desired route was completed.

Two route mapping methods were tested.The performance of the platform control algorithm was evaluated by following a predefined route and calculating metrics such as the maximum cross-track error, mean absolute error, standard deviation of the error, and root mean squared error.The strategy of planning routes with closer waypoints reduces cross-track errors.

The results showed that when adopting waypoints every 3 m, better performance was obtained compared to waypoints only at the vertices, with maximum cross-track error being 44.4% lower, MAE 64.1% lower, SD 39.

4% lower, and RMSE 52.5% lower.This opi the color that keeps on giving study demonstrates the feasibility of developing autonomous agricultural robots with low-cost components and highlights the importance of careful route planning to optimize navigation accuracy.