Abstract
In contemporary agriculture, researchers are focusing on precision farming and environmentally conscious techniques, leading to the advancement of autonomous agricultural mobile robots. Consequently, A navigation system using TSK Interval Type-2 fuzzy logic has been developed and, for the first time, applied to a holonomic mobile agricultural robot equipped with four-wheel drive and steer. This system employs a behavioral approach to accomplish the robot’s primary objective in unfamiliar environments. It comprises four controllers: one exclusively dedicated to goal-seeking behavior, with the remaining controllers responsible for obstacle avoidance. Supervision of these controllers is conducted through the Mandani fuzzy logic approach, which combines the outputs of all four controllers, robot wheel velocities and steering angles, using a proposed equations. Various case studies were examined and simulated utilizing MATLAB and VREP software platform to assess the navigator system’s performance. The simulation outcomes showcase the efficiency of the proposed equations and the system’s navigation capabilities. The stability of the entire system was thoroughly examined and confirmed, employing the Lyapunov function, in environments with and without obstacles.
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
