Implementation on a harvesting robot of a sensor-based controller performing a u-turn

Abstract : In this paper we investigate the navigation of a harvesting robot using sensor-based controllers in an orchard. More precisely, we focus our work on the particular u-turn maneuver which allows the mechanical system to move from the current row to the next one. By using sensor-based controllers, the control law is expressed in the sensor space, and the robot does not have to localize itself nor use a global map of the field. The navigation task can then be realized more accurately. This paper reports the implementation of two generic sensor-based controllers. These controllers allow a differential robot to follow spirals around a given point of interest. In this work, we adapt these two controllers to our specific robot (car-like system), before detailing the ROS implementation architecture. Both simulations and experimental results show the interest and the efficiency of our controllers to perform u-turns in an orchard.
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https://hal-mines-albi.archives-ouvertes.fr/hal-01950862
Contributor : Imt Mines Albi Ecole Nationale Supérieure Des Mines d'Albi-Carmaux <>
Submitted on : Tuesday, December 11, 2018 - 10:12:28 AM
Last modification on : Saturday, October 26, 2019 - 1:33:22 AM

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Emile Le Flecher, Adrien Durand-Petiteville, Viviane Cadenat, Thierry Sentenac, S. Vougioukas. Implementation on a harvesting robot of a sensor-based controller performing a u-turn. IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (2017 ECMSM), May 2017, San Sebastian, Spain. art. 7945895 - 6 p., ⟨10.1109/ECMSM.2017.7945895⟩. ⟨hal-01950862⟩

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