Problem
Research questions and friction points this paper is trying to address.
autonomous navigation
terrain compensation
slope adaptation
greenhouse
An Adaptive Control Architecture for Slope and Terrain Compensation in Autonomous Navigation in Mediterranean Greenhouses
🤖 AI Summary
研究针对温室复杂地形导航问题，提出基于负载和IMU测量的自适应控制架构，通过MPC和PI控制器实现稳定轨迹跟踪。
📝 Abstract
The ability to move stably over terrain with varying slopes and textures is essential for mobile agricultural robots operating in complex and dynamic environments such as greenhouses, where small terrain irregularities can lead to significant navigation errors. This article presents a novel terrain-adaptation strategy based on the carried payload, ensuring accurate and robust trajectory tracking. The proposed approach is based on: (i) the experimental characterization of the most common types of greenhouse soil, concrete, compacted sand, and gravel, and (ii) the direct measurement of terrain slope using the IMU, in order to estimate the force with which this angle affects the motor input. Based on this information, a cascade trajectory-tracking scheme has been designed, consisting of a model-based predictive controller (MPC) in the outer loop and a PI controller in the inner loop. The system incorporates an adaptive feedforward control through gain scheduling approach, capable of adjusting to disturbances caused by variations in slope and terrain type. Simulation results demonstrate that the differential-drive robot achieves a significant improvement both in error indices and in control signal efficiency, highlighting the effectiveness and robustness of the proposed approach.
Innovation
Methods, ideas, or system contributions that make the work stand out.
terrain adaptation
gain scheduling
model predictive control
adaptive feedforward control
🔎 Similar Papers
No similar papers found.
