Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design

Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, th...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Raikwar, Satyam [verfasserIn] Fehrmann, Jens [verfasserIn] Herlitzius, Thomas [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation

Übergeordnetes Werk:	Enthalten in: Computers and electronics in agriculture - Amsterdam [u.a.] : Elsevier Science, 1985, 202
Übergeordnetes Werk:	volume:202

DOI / URN:	10.1016/j.compag.2022.107410

Katalog-ID:	ELV008687188

Internformat


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245	1	0	\|a Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
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520			\|a Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction.
650		4	\|a Autonomous navigation
650		4	\|a Model-based navigation
650		4	\|a Agriculture robotics
650		4	\|a Orchard robot
650		4	\|a Mobile robot navigation
700	1		\|a Fehrmann, Jens \|e verfasserin \|4 aut
700	1		\|a Herlitzius, Thomas \|e verfasserin \|4 aut
773	0	8	\|i Enthalten in \|t Computers and electronics in agriculture \|d Amsterdam [u.a.] : Elsevier Science, 1985 \|g 202 \|h Online-Ressource \|w (DE-627)320567826 \|w (DE-600)2016151-7 \|w (DE-576)090955684 \|x 1872-7107 \|7 nnns
773	1	8	\|g volume:202
912			\|a GBV_USEFLAG_U
912			\|a SYSFLAG_U
912			\|a GBV_ELV
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912			\|a GBV_ILN_22
912			\|a GBV_ILN_23
912			\|a GBV_ILN_24
912			\|a GBV_ILN_31
912			\|a GBV_ILN_32
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_74
912			\|a GBV_ILN_90
912			\|a GBV_ILN_95
912			\|a GBV_ILN_100
912			\|a GBV_ILN_101
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_150
912			\|a GBV_ILN_151
912			\|a GBV_ILN_224
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_702
912			\|a GBV_ILN_2003
912			\|a GBV_ILN_2004
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2015
912			\|a GBV_ILN_2020
912			\|a GBV_ILN_2021
912			\|a GBV_ILN_2025
912			\|a GBV_ILN_2027
912			\|a GBV_ILN_2034
912			\|a GBV_ILN_2038
912			\|a GBV_ILN_2044
912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2056
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
912			\|a GBV_ILN_2064
912			\|a GBV_ILN_2065
912			\|a GBV_ILN_2068
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2112
912			\|a GBV_ILN_2113
912			\|a GBV_ILN_2118
912			\|a GBV_ILN_2122
912			\|a GBV_ILN_2129
912			\|a GBV_ILN_2143
912			\|a GBV_ILN_2147
912			\|a GBV_ILN_2148
912			\|a GBV_ILN_2152
912			\|a GBV_ILN_2153
912			\|a GBV_ILN_2190
912			\|a GBV_ILN_2336
912			\|a GBV_ILN_2507
912			\|a GBV_ILN_2522
912			\|a GBV_ILN_4035
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4242
912			\|a GBV_ILN_4251
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4326
912			\|a GBV_ILN_4333
912			\|a GBV_ILN_4334
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4393
936	b	k	\|a 48.03 \|j Methoden und Techniken der Land- und Forstwirtschaft
951			\|a AR
952			\|d 202

Indexfelder

author_variant	s r sr j f jf t h th
matchkey_str	article:18727107:2022----::aiainncnrleeomnfrfuwelteemblocado
hierarchy_sort_str	2022
bklnumber	48.03
publishDate	2022
allfields	10.1016/j.compag.2022.107410 doi (DE-627)ELV008687188 (ELSEVIER)S0168-1699(22)00718-9 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Raikwar, Satyam verfasserin aut Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction. Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation Fehrmann, Jens verfasserin aut Herlitzius, Thomas verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 202 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:202 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 202
spelling	10.1016/j.compag.2022.107410 doi (DE-627)ELV008687188 (ELSEVIER)S0168-1699(22)00718-9 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Raikwar, Satyam verfasserin aut Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction. Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation Fehrmann, Jens verfasserin aut Herlitzius, Thomas verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 202 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:202 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 202
allfields_unstemmed	10.1016/j.compag.2022.107410 doi (DE-627)ELV008687188 (ELSEVIER)S0168-1699(22)00718-9 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Raikwar, Satyam verfasserin aut Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction. Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation Fehrmann, Jens verfasserin aut Herlitzius, Thomas verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 202 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:202 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 202
allfieldsGer	10.1016/j.compag.2022.107410 doi (DE-627)ELV008687188 (ELSEVIER)S0168-1699(22)00718-9 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Raikwar, Satyam verfasserin aut Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction. Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation Fehrmann, Jens verfasserin aut Herlitzius, Thomas verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 202 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:202 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 202
allfieldsSound	10.1016/j.compag.2022.107410 doi (DE-627)ELV008687188 (ELSEVIER)S0168-1699(22)00718-9 DE-627 ger DE-627 rda eng 620 630 640 004 DE-600 48.03 bkl Raikwar, Satyam verfasserin aut Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction. Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation Fehrmann, Jens verfasserin aut Herlitzius, Thomas verfasserin aut Enthalten in Computers and electronics in agriculture Amsterdam [u.a.] : Elsevier Science, 1985 202 Online-Ressource (DE-627)320567826 (DE-600)2016151-7 (DE-576)090955684 1872-7107 nnns volume:202 GBV_USEFLAG_U SYSFLAG_U GBV_ELV SSG-OPC-FOR GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_101 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 48.03 Methoden und Techniken der Land- und Forstwirtschaft AR 202
language	English
source	Enthalten in Computers and electronics in agriculture 202 volume:202
sourceStr	Enthalten in Computers and electronics in agriculture 202 volume:202
format_phy_str_mv	Article
bklname	Methoden und Techniken der Land- und Forstwirtschaft
institution	findex.gbv.de
topic_facet	Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation
dewey-raw	620
isfreeaccess_bool	false
container_title	Computers and electronics in agriculture
authorswithroles_txt_mv	Raikwar, Satyam @@aut@@ Fehrmann, Jens @@aut@@ Herlitzius, Thomas @@aut@@
publishDateDaySort_date	2022-01-01T00:00:00Z
hierarchy_top_id	320567826
dewey-sort	3620
id	ELV008687188
language_de	englisch
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author	Raikwar, Satyam
spellingShingle	Raikwar, Satyam ddc 620 bkl 48.03 misc Autonomous navigation misc Model-based navigation misc Agriculture robotics misc Orchard robot misc Mobile robot navigation Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
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topic_title	620 630 640 004 DE-600 48.03 bkl Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design Autonomous navigation Model-based navigation Agriculture robotics Orchard robot Mobile robot navigation
topic	ddc 620 bkl 48.03 misc Autonomous navigation misc Model-based navigation misc Agriculture robotics misc Orchard robot misc Mobile robot navigation
topic_unstemmed	ddc 620 bkl 48.03 misc Autonomous navigation misc Model-based navigation misc Agriculture robotics misc Orchard robot misc Mobile robot navigation
topic_browse	ddc 620 bkl 48.03 misc Autonomous navigation misc Model-based navigation misc Agriculture robotics misc Orchard robot misc Mobile robot navigation
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title	Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
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title_full	Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
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author_browse	Raikwar, Satyam Fehrmann, Jens Herlitzius, Thomas
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dewey-full	620 630 640 004
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title_sort	navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
title_auth	Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
abstract	Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction.
abstractGer	Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction.
abstract_unstemmed	Autonomous agricultural robots play an essential role in agricultural mechanization. Self-reliable navigation of these robots is a challenging task. Generally, Global Navigation Satellite Systems (GNSS) based approach, combined with other sensors, is mainly utilized for robot navigation. However, these navigation methods encounter trouble during GNSS signal outages and require a stable navigation solution. This paper proposes a stable navigational algorithm for an orchard robot based on the model-based design that works in a GNSS denied environment. The designed model takes the input driving coordinates and vehicle state from wheel and steering encoders and translates them into vehicle navigational command. The navigation model is built in MATLAB/Simulink environment. The dynamic behavior of the model is neglected, considering that the robot is a slow-moving vehicle due to its application requirement. For robot navigation, the control command given by the controller is divided into velocity and steering control that follows a defined path at a given velocity and steering rate. The developed system is verified both in real and simulation environments. The control algorithm is verified using a mobile robot (non-holonomic) in an outdoor environment. It is confirmed that the robot is able to navigate satisfactorily in the given environment with normalized root mean square difference error within the range of 0.2–0.4 for steering offset at turning and 0.05 degrees during straight travel. Similarly, the model correlation lies close to 0.99 compared to the steering input angle. The proposed navigational model gives a realistic approach for vehicle navigation with the least sensor interaction.
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title_short	Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design
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author2	Fehrmann, Jens Herlitzius, Thomas
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doi_str	10.1016/j.compag.2022.107410
up_date	2024-07-06T20:33:29.110Z
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Navigation and control development for a four-wheel-steered mobile orchard robot using model-based design

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