Research on Automatic Steering Control System for Plant Protection Robots

DOI

10.2991/icsma-16.2016.110How to use a DOI?

Keywords

plant protection robot, deviation control strategy, unmanned, automatic control

Abstract

Aiming at the problem of agricultural robots such as being difficult to adapt to the complex operating environment in field ,highter cost for promotion and application ,designed an automatic steering system based on the steering wheel angle-sensor and the steering motor ,formed a closed-loop control system by sensor and motor .Taking STM32F103 single chip microcomputer as the core of the control system, the PID control algorithm based on the model of steering deviation ,and analyzed and verified the effectiveness of the steering drive . The experimental results show that the maximum mean absolute error of the steering wheel angle is 0.60 degrees, ÿ and the angle of the target is obtained by 0.8-1.0s.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei Zhang
AU  - Changsheng Ai
AU  - Delin Wu
AU  - Weixin Li
AU  - Yongze Zhang
PY  - 2016/12
DA  - 2016/12
TI  - Research on Automatic Steering Control System for Plant Protection Robots
BT  - Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)
PB  - Atlantis Press
SP  - 638
EP  - 642
SN  - 1951-6851
UR  - https://doi.org/10.2991/icsma-16.2016.110
DO  - 10.2991/icsma-16.2016.110
ID  - Zhang2016/12
ER  -