Lateral Control Method of RDDF-based Cleaning Robot

Abstract

The agricultural product processing center (APC) undertakes a myriad of processes encompassing harvesting, sorting, washing, packaging, pre-cooling, and storage to facilitate the transformation of raw agricultural produce into refined, market-ready products. As the APC processes unfold, the generation of diverse contaminants is notable, revealing the existing deficiency in the development of cleaning robots specifically tailored for the unique challenges presented by the APC environment. This research paper delves into the exploration of a lateral control system designed for autonomous cleaning robots, particularly suited for deployment in relatively expansive spaces within the APC. Recognizing the distinct concentration of contaminants in specific regions during the APC processes, the study incorporates the use of the route define data format (RDDF) onto the generated path. This integration allows for adaptive control of speed and the execution of cleaning tasks tailored to specific segments of the path. In navigating through the APC environment, where contaminant occurrence is spatially variable, the paper addresses the need for controllers adapted to both narrow and wide spaces. This adaptation is crucial when considering the requirement to traverse these spaces at varying speeds. Consequently, the research paper delves into an in-depth investigation of an integrated lateral control system, exploring its nuances in relation to longitudinal velocity. The findings of this study contribute to enhancing the efficacy of autonomous cleaning robots, particularly in their ability to navigate and clean diverse spatial environments encountered during the agricultural product processing journey.