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Path Tracking of Mobile Robot in Crops

Performance Evaluations of Position Control

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Abstract

Evaluation of the performance of three controllers: adaptive PID, model reference adaptive controller, and fuzzy controller, is presented, applied to a mobile robot for autonomous path tracking in a crop. Different tests are run in a simulation environment in order to compare the same trajectory performed under each of those controllers. The tests are designed and implemented using Simulink® programming tools, making the robot follow a desired path across the crop. The results are compared considering the different error indices, curves and actuator requirements of each controller, in order to arrange them in different categories.

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Authors and Affiliations

  1. Departamento de Ingeniería Eléctrica, Universidad de Santiago de Chile, Avda. Ecuador No. 3519. Estación Central, Santiago, Chile

    Claudio Urrea & José Muñoz

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  1. Claudio Urrea
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  2. José Muñoz
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Correspondence to Claudio Urrea.

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Urrea, C., Muñoz, J. Path Tracking of Mobile Robot in Crops. J Intell Robot Syst 80, 193–205 (2015). https://doi.org/10.1007/s10846-013-9989-1

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  • DOI: https://doi.org/10.1007/s10846-013-9989-1

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