Developing a Fuzzy Logic Controlled Agricultural Vehicle

Abstract

This paper describes the design of a fuzzy controlled robot for use in an agricultural environment. This environment comprises of an open, but irregular terrain either supporting crops or sparsely populated with objects. This results in complex problems of identification, monitoring and control. In this paper a fuzzy controller is identified which when used with a novel sensor design can deal with both crop tracking and cutting. The controller was tested on an in-door mobile robot using two ultrasound sensors. The controller showed a good response in-spite of the irregularity of the medium as well as the imprecision in the ultrasound sensors. This Controller will be implemented on both electrical and diesel powered vehicles which can navigate in out-door farm environments.