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.
Path Planning Optimization and Motion Control of a Greenhouse Unmanned Ground Vehicle
Lect. Notes Electrical Eng.
2021-10-30
12 pages
Article/Chapter (Book)
Electronic Resource
English