Comparison of Control Algorithms by Simulating Power Consumption of Differential Drive Mobile Robot Motion Control in Vineyard Row

IF 1.3 Q2 AGRICULTURE, MULTIDISCIPLINARY

Acta Technologica Agriculturae Pub Date : 2021-12-01 DOI:10.2478/ata-2021-0032

D. Hruby, Dušan Marko, M. Olejár, V. Cviklovič, Dominik Hornak

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引用次数: 2

Abstract

Abstract The paper deals with comparing electricity power consumption of various control algorithms by simulating differential mobile robot motion control in a vineyard row. In field of autonomous mobile robotics, the quality of control is a crucial aspect. Besides the precision of control, the energy consumption for motion is becoming an increasingly demanding characteristic of a controller due to the increasing costs of fossil fuels and electricity. A simulation model of a differential drive mobile robot motion in a vineyard row was created, including robot dynamics for evaluating motion consumption, and there were implemented commonly used PID, Fuzzy, and LQ control algorithms, the task of which was to navigate the robot through the centre of vineyard row section by measuring distances from trellises on both robot sides. The comparison was carried out using Matlab software and the best results in terms of both power consumption and control accuracy were achieved by LQI controller. The designed model for navigating the robot through the vineyard row centre and optimized controllers were implemented in a real robot and tested under real conditions.

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葡萄园行差速驱动移动机器人运动控制仿真功耗控制算法比较

摘要本文通过对葡萄园行差分移动机器人运动控制的仿真，比较了不同控制算法的电耗。在自主移动机器人领域，控制质量是一个至关重要的方面。除了控制的精度，由于化石燃料和电力成本的增加，运动的能量消耗正成为对控制器要求越来越高的特征。建立了差动驱动移动机器人在葡萄园行中运动的仿真模型，包括用于评估运动消耗的机器人动力学，并实现了常用的PID、模糊和LQ控制算法，其任务是通过测量机器人与两侧格架的距离来引导机器人穿过葡萄园行段的中心。利用Matlab软件进行了比较，LQI控制器在功耗和控制精度方面都取得了最好的结果。设计的机器人导航模型和优化的控制器在实际机器人上实现，并在实际条件下进行了测试。

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来源期刊

Acta Technologica Agriculturae AGRICULTURE, MULTIDISCIPLINARY-

CiteScore

2.50

自引率

28.60%

发文量

审稿时长

18 weeks

期刊介绍： Acta Technologica Agriculturae is an international scientific double-blind peer reviewed journal focused on agricultural engineering. The journal is multidisciplinary and publishes original research and review papers in engineering, agricultural and biological sciences, and materials science. Aims and Scope Areas of interest include but are not limited to: agricultural and biosystems engineering; machines and mechanization of agricultural production; information and electrical technologies; agro-product and food processing engineering; physical, chemical and biological changes in the soil caused by tillage and field traffic, soil working machinery and terramechanics; renewable energy sources and bioenergy; rural buildings; related issues from applied physics and chemistry, ecology, economy and energy.