| Autor: |
Jamil de Almeida Baltazar, André Luiz de Freitas Coelho, Domingos Sárvio Magalhães Valente, Daniel Marçal de Queiroz, Flora Maria de Melo Villar |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
AgriEngineering, Vol 6, Iss 3, Pp 3362-3374 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2624-7402 |
| DOI: |
10.3390/agriengineering6030192 |
| Popis: |
The development of autonomous agricultural robots using a global navigation satellite system aided by real-time kinematics and an inertial measurement unit for position and orientation determination must address the accuracy, reliability, and cost of these components. This study aims to develop and evaluate a robotic platform with autonomous navigation using low-cost components. A navigation algorithm was developed based on the kinematics of a differential vehicle, combined with a proportional and integral steering controller that followed a point-to-point route until the desired route was completed. Two route mapping methods were tested. The performance of the platform control algorithm was evaluated by following a predefined route and calculating metrics such as the maximum cross-track error, mean absolute error, standard deviation of the error, and root mean squared error. The strategy of planning routes with closer waypoints reduces cross-track errors. The results showed that when adopting waypoints every 3 m, better performance was obtained compared to waypoints only at the vertices, with maximum cross-track error being 44.4% lower, MAE 64.1% lower, SD 39.4% lower, and RMSE 52.5% lower. This study demonstrates the feasibility of developing autonomous agricultural robots with low-cost components and highlights the importance of careful route planning to optimize navigation accuracy. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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