Speed control of an autonomous electric vehicle for orchard spraying

IF 7.7 1区农林科学 Q1 AGRICULTURE, MULTIDISCIPLINARY

Computers and Electronics in Agriculture Pub Date : 2025-04-26 DOI:10.1016/j.compag.2025.110419

Yoshitomo Yamasaki, Kazunobu Ishii, Noboru Noguchi

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引用次数: 0

Abstract

We developed an autonomous electric vehicle for orchard spraying, termed a spraying robot. Traveling resistance varies depending on vehicle weight, the front sideslip angle, and surface slope. The vehicle weight must change while traveling, especially for the spraying robot. To adapt to changes in those resistances, it is necessary to develop a speed controller. This research focused on rolling and slope resistance as a traveling resistance, which depends on the vehicle weight. We modeled the resistance and developed a feedforward controller with a proportional-integral-derivative (PID) feedback controller. The developed controller (FF-PID) was compared with a simple PID controller in simulation. The FF-PID was verified to be more rapid and stable response than the PID. Moreover, the FF-PID responded adaptively when the vehicle weight changed. Compared to the PID, the FF-PID reduced the error to the target speed by 50 % during sideslip angle changes and by 48 % during slope angle changes. Finally, we simulated a spraying task based on actual traveling data in a vineyard, factoring in the vehicle weight, steering angle, and slope angle change. The results showed that the FF-PID reduced error by 32 %. This research improved the performance of the spraying robot’s speed controller by modeling traveling resistance in an orchard environment.

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果园喷洒自动电动车辆的速度控制

我们开发了一种用于果园喷洒的自动电动汽车，称为喷洒机器人。行驶阻力取决于车辆重量、前侧滑角和路面坡度。车辆重量在行驶过程中必须发生变化，尤其是喷涂机器人。为了适应这些电阻的变化，有必要开发一种速度控制器。本研究的重点是作为行驶阻力的滚动和倾斜阻力，这取决于车辆的重量。我们建立了电阻模型，并开发了一个带有比例积分导数（PID）反馈控制器的前馈控制器。将所设计的控制器（FF-PID）与简单的PID控制器进行了仿真比较。结果表明，FF-PID的响应速度比PID更快、更稳定。此外，FF-PID对车辆重量变化具有自适应响应能力。与PID相比，FF-PID在侧滑角变化时将目标速度误差降低了50%，在斜角变化时将目标速度误差降低了48%。最后，我们基于葡萄园的实际行驶数据模拟了一个喷洒任务，考虑了车辆重量、转向角度和坡度变化。结果表明，采用FF-PID控制后，误差降低了32%。本研究通过对果园环境下的行走阻力建模，改进了喷雾机器人的速度控制器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Computers and Electronics in Agriculture 工程技术-计算机：跨学科应用

CiteScore

15.30

自引率

14.50%

发文量

800

审稿时长

62 days

期刊介绍： Computers and Electronics in Agriculture provides international coverage of advancements in computer hardware, software, electronic instrumentation, and control systems applied to agricultural challenges. Encompassing agronomy, horticulture, forestry, aquaculture, and animal farming, the journal publishes original papers, reviews, and applications notes. It explores the use of computers and electronics in plant or animal agricultural production, covering topics like agricultural soils, water, pests, controlled environments, and waste. The scope extends to on-farm post-harvest operations and relevant technologies, including artificial intelligence, sensors, machine vision, robotics, networking, and simulation modeling. Its companion journal, Smart Agricultural Technology, continues the focus on smart applications in production agriculture.