High‐precision control of tracked field robots in the presence of unknown traction coefficients.
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| Title: | High‐precision control of tracked field robots in the presence of unknown traction coefficients. |
|---|---|
| Authors: | Kayacan, Erkan1,2 erkank@mit.edu, Young, Sierra N.1, Peschel, Joshua M.3, Chowdhary, Girish1 |
| Source: | Journal of Field Robotics. Oct2018, Vol. 35 Issue 7, p1050-1062. 13p. |
| Subjects: | Crop management, Computational steering (Computer science), Agricultural robots, Spraying & dusting in agriculture, Estimation theory |
| Abstract: | Abstract: Accurate steering through crop rows that avoids crop damage is one of the most important tasks for agricultural robots utilized in various field operations, such as monitoring, mechanical weeding, or spraying. In practice, varying soil conditions can result in off‐track navigation due to unknown traction coefficients so that it can cause crop damage. To address this problem, this paper presents the development, application, and experimental results of a real‐time receding horizon estimation and control (RHEC) framework applied to a fully autonomous mobile robotic platform to increase its steering accuracy. Recent advances in cheap and fast microprocessors, as well as advances in solution methods for nonlinear optimization problems, have made nonlinear receding horizon control (RHC) and receding horizon estimation (RHE) methods suitable for field robots that require high‐frequency (milliseconds) updates. A real‐time RHEC framework is developed and applied to a fully autonomous mobile robotic platform designed by the authors for in‐field phenotyping applications in sorghum fields. Nonlinear RHE is used to estimate constrained states and parameters, and nonlinear RHC is designed based on an adaptive system model that contains time‐varying parameters. The capabilities of the real‐time RHEC framework are verified experimentally, and the results show an accurate tracking performance on a bumpy and wet soil field. The mean values of the Euclidean error and required computation time of the RHEC framework are equal to 0.0423 m and 0.88 ms, respectively. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 132188452 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: High‐precision control of tracked field robots in the presence of unknown traction coefficients. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Kayacan%2C+Erkan%22">Kayacan, Erkan</searchLink><relatesTo>1,2</relatesTo><i> erkank@mit.edu</i><br /><searchLink fieldCode="AR" term="%22Young%2C+Sierra+N%2E%22">Young, Sierra N.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Peschel%2C+Joshua+M%2E%22">Peschel, Joshua M.</searchLink><relatesTo>3</relatesTo><br /><searchLink fieldCode="AR" term="%22Chowdhary%2C+Girish%22">Chowdhary, Girish</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Field+Robotics%22">Journal of Field Robotics</searchLink>. Oct2018, Vol. 35 Issue 7, p1050-1062. 13p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Crop+management%22">Crop management</searchLink><br /><searchLink fieldCode="DE" term="%22Computational+steering+%28Computer+science%29%22">Computational steering (Computer science)</searchLink><br /><searchLink fieldCode="DE" term="%22Agricultural+robots%22">Agricultural robots</searchLink><br /><searchLink fieldCode="DE" term="%22Spraying+%26+dusting+in+agriculture%22">Spraying & dusting in agriculture</searchLink><br /><searchLink fieldCode="DE" term="%22Estimation+theory%22">Estimation theory</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Abstract: Accurate steering through crop rows that avoids crop damage is one of the most important tasks for agricultural robots utilized in various field operations, such as monitoring, mechanical weeding, or spraying. In practice, varying soil conditions can result in off‐track navigation due to unknown traction coefficients so that it can cause crop damage. To address this problem, this paper presents the development, application, and experimental results of a real‐time receding horizon estimation and control (RHEC) framework applied to a fully autonomous mobile robotic platform to increase its steering accuracy. Recent advances in cheap and fast microprocessors, as well as advances in solution methods for nonlinear optimization problems, have made nonlinear receding horizon control (RHC) and receding horizon estimation (RHE) methods suitable for field robots that require high‐frequency (milliseconds) updates. A real‐time RHEC framework is developed and applied to a fully autonomous mobile robotic platform designed by the authors for in‐field phenotyping applications in sorghum fields. Nonlinear RHE is used to estimate constrained states and parameters, and nonlinear RHC is designed based on an adaptive system model that contains time‐varying parameters. The capabilities of the real‐time RHEC framework are verified experimentally, and the results show an accurate tracking performance on a bumpy and wet soil field. The mean values of the Euclidean error and required computation time of the RHEC framework are equal to 0.0423 m and 0.88 ms, respectively. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/rob.21794 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 13 StartPage: 1050 Subjects: – SubjectFull: Crop management Type: general – SubjectFull: Computational steering (Computer science) Type: general – SubjectFull: Agricultural robots Type: general – SubjectFull: Spraying & dusting in agriculture Type: general – SubjectFull: Estimation theory Type: general Titles: – TitleFull: High‐precision control of tracked field robots in the presence of unknown traction coefficients. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Kayacan, Erkan – PersonEntity: Name: NameFull: Young, Sierra N. – PersonEntity: Name: NameFull: Peschel, Joshua M. – PersonEntity: Name: NameFull: Chowdhary, Girish IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 10 Text: Oct2018 Type: published Y: 2018 Identifiers: – Type: issn-print Value: 15564959 Numbering: – Type: volume Value: 35 – Type: issue Value: 7 Titles: – TitleFull: Journal of Field Robotics Type: main |
| ResultId | 1 |
