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Communication Dans Un Congrès Année : 2017

Implementation on a harvesting robot of a sensor-based controller performing a u-turn

Résumé

In this paper we investigate the navigation of a harvesting robot using sensor-based controllers in an orchard. More precisely, we focus our work on the particular u-turn maneuver which allows the mechanical system to move from the current row to the next one. By using sensor-based controllers, the control law is expressed in the sensor space, and the robot does not have to localize itself nor use a global map of the field. The navigation task can then be realized more accurately. This paper reports the implementation of two generic sensor-based controllers. These controllers allow a differential robot to follow spirals around a given point of interest. In this work, we adapt these two controllers to our specific robot (car-like system), before detailing the ROS implementation architecture. Both simulations and experimental results show the interest and the efficiency of our controllers to perform u-turns in an orchard.
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Dates et versions

hal-01950862 , version 1 (11-12-2018)

Identifiants

Citer

Emile Le Flecher, Adrien Durand-Petiteville, Viviane Cadenat, Thierry Sentenac, S. Vougioukas. Implementation on a harvesting robot of a sensor-based controller performing a u-turn. IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (2017 ECMSM), May 2017, San Sebastian, Spain. art. 7945895 - 6 p., ⟨10.1109/ECMSM.2017.7945895⟩. ⟨hal-01950862⟩
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