Simulation based on the Multibody Dynamics for Verification of Autonomous Driving Control of Agricultural Robot

Abstract

The purpose of this study was to develop a detailed dynamics model for the development of an agricultural robot and its autonomous driving algorithm that can be used under off-load conditions. We first developed a dynamics model of the robot by using the multibody dynamics method. Then, we designed a yaw moment and velocity tracking controller to move along the furrow in the working area of the robot, and an attitude control algorithm of the chassis to maintain the horizontal road gradient and surface roughness. Finally, using these two models, we carried out a co-simulation for the evaluation of the control algorithms. The real environment of an agricultural robot is composed of soil, gravel, and grass, so the road surface may get deformed by the wheels of the robot and may experience various roughness changes due to the weather. In this study, using the developed co-simulation model, we analyzed the dynamic response of the robot to various road properties such as height and friction coefficient.