2P1-B09 Weeding Robot Control for Rice Plant Line Following

Abstract

The purpose of this study is to propose a tracking control method for a wheeled weeding robot based on the rice plant line in a paddy field. The weeding robot has a capacitive touch sensor to detect the rice plants, azimuth sensor, microcomputer and battery. In this paper, we considered to reduce the rotation radius in turning traveling of the weeding robot. The rotation speed of the wheel is controlled by the PWM control signal. The effectiveness of the proposed tracking control method is verified by the experiments.