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Title: High-precision control of tracked field robots in the presence of unknown traction coefficients

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 work 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 amore » bumpy and wet soil field. Finally, 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.« less

Authors:
ORCiD logo [1];  [2];  [3];  [2]
  1. University of Illinois at Urbana-Champaign, Urbana, IL (United States); Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States)
  2. University of Illinois at Urbana-Champaign, Urbana, IL (United States)
  3. Iowa State Univ., Ames, IA (United States)
Publication Date:
Research Org.:
University of Illinois at Urbana-Champaign, Urbana, IL (United States)
Sponsoring Org.:
USDOE Advanced Research Projects Agency - Energy (ARPA-E)
OSTI Identifier:
1466744
Alternate Identifier(s):
OSTI ID: 1457828
Grant/Contract Number:  
AR0000598
Resource Type:
Journal Article: Accepted Manuscript
Journal Name:
Journal of Field Robotics
Additional Journal Information:
Journal Name: Journal of Field Robotics; Journal ID: ISSN 1556-4959
Publisher:
Wiley
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 54 ENVIRONMENTAL SCIENCES; agriculture; control; field robot; mobile robot; path tracking; robot control

Citation Formats

Kayacan, Erkan, Young, Sierra N., Peschel, Joshua M., and Chowdhary, Girish. High-precision control of tracked field robots in the presence of unknown traction coefficients. United States: N. p., 2018. Web. doi:10.1002/rob.21794.
Kayacan, Erkan, Young, Sierra N., Peschel, Joshua M., & Chowdhary, Girish. High-precision control of tracked field robots in the presence of unknown traction coefficients. United States. doi:10.1002/rob.21794.
Kayacan, Erkan, Young, Sierra N., Peschel, Joshua M., and Chowdhary, Girish. Fri . "High-precision control of tracked field robots in the presence of unknown traction coefficients". United States. doi:10.1002/rob.21794.
@article{osti_1466744,
title = {High-precision control of tracked field robots in the presence of unknown traction coefficients},
author = {Kayacan, Erkan and Young, Sierra N. and Peschel, Joshua M. and Chowdhary, Girish},
abstractNote = {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 work 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. Finally, 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.},
doi = {10.1002/rob.21794},
journal = {Journal of Field Robotics},
number = ,
volume = ,
place = {United States},
year = {Fri Jun 29 00:00:00 EDT 2018},
month = {Fri Jun 29 00:00:00 EDT 2018}
}

Journal Article:
Free Publicly Available Full Text
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