Algorithms for path planning and motion control of an unmanned ground vehicle for the greenhouse application are proposed based on the topological map in this paper. Firstly, topological map of the greenhouse environment was built. The map was expressed with nodes and angles between any two of adjacent nodes. The adjacent matrix can be got easily, which is for path planning. Then, the environment information can be detected with three ultrasonic sensors and pose adjustment of unmanned ground vehicle can be detected with the gyroscope. Also, the method of PD control for guiding an unmanned ground vehicle is introduced in this paper. Optimal navigation can be obtained when confronted with obstacles. The robot’s navigation and motion adjustment were simulated and tested through the greenhouse environment model. Then the robots were demonstrated in the real environment. Experiment results showed that with the path planning algorithm, the unmanned ground vehicle can find the shortest path after traverses all paths and obstacle avoidance can be realized easily.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path Planning Optimization and Motion Control of a Greenhouse Unmanned Ground Vehicle


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Wang, Shubo (author) / Dou, Wenhao (author) / Li, Tongshu (author) / Han, Yu (author) / Zhang, Zichao (author) / Chen, Jian (author)


    Publication date :

    2021-10-30


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Path Planning Optimization and Motion Control of a Greenhouse Unmanned Ground Vehicle

    Wang, Shubo / Dou, Wenhao / Li, Tongshu et al. | TIBKAT | 2022


    Automatic Path Planning for Unmanned Ground Vehicle Using UAV Imagery

    ZOTO, JURGEN / Maria Angela Musci / Aleem Khaliq et al. | BASE | 2020

    Free access


    PATH PLANNING FOR AN UNMANNED VEHICLE

    COHEN OFIR / APPELMAN DINA | European Patent Office | 2019

    Free access

    PATH PLANNING FOR AN UNMANNED VEHICLE

    COHEN OFIR / APPELMAN DINA | European Patent Office | 2024

    Free access