Translational Speed Control and Positioning of Precision Agricultural Robot

Abstract

All kinds of agricultural labor may lead to farmers’ fatigue or disease. To help accomplish these tasks, robotics is used as a possibility to minimize the above inconvenience. With this in mind, the Military University of New Granada designed and built a robot called CERES, which is responsible for removing weeds, spraying, etc. In order for CERES to move in the crop along the required path, it must be ensured that the robot moves at a specific translational speed and direction, which is ensured by using the controller. This paper introduces the use of SSV (steady state value) criterion and the control signal allowed by the robot hardware, designs and implements a PID controller for tracking the linear speed and direction and ensuring that the stability time is met when the error tends to zero.