Fuzzy Control for Automatic Steering and Line Tracking of Agricultural Robot

Abstract

In order to realize automatic navigation for agricultural robot, a fuzzy control method for automatic steering and a method for line tracking are conveyed in the article. The principal for fuzzy control steering and the construction of fuzzy controller are described in detail. In order to validate these two methods, agricultural robot was developed, which are refitted from a storage battery car. Navigation control system is developed based on agricultural robot using GPS, digital compass and other sensors. The robot acquires the location information by GPS and digital compass, and can realize automatic navigation using the fuzzy control steering and line tracking method. Test results indicated that the navigation lateral error was less than 0.3 m when the robot ran following the predefined line route.