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Data and Information in Online Environments. Second EAI International Conference, DIONE 2021, Virtual Event, March 10–12, 2021, Proceedings

Research Article

Differential Steering Control System of Lawn Mower Robot

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  • @INPROCEEDINGS{10.1007/978-3-030-77417-2_26,
        author={Xu Guo and Jinpen Huang and Lepeng Song and Feng Xiong},
        title={Differential Steering Control System of Lawn Mower Robot},
        proceedings={Data and Information in Online Environments. Second EAI International Conference, DIONE 2021, Virtual Event, March 10--12, 2021, Proceedings},
        proceedings_a={DIONE},
        year={2021},
        month={6},
        keywords={Mowing robot Fuzzy adaptive PID Differential steering},
        doi={10.1007/978-3-030-77417-2_26}
    }
    
  • Xu Guo
    Jinpen Huang
    Lepeng Song
    Feng Xiong
    Year: 2021
    Differential Steering Control System of Lawn Mower Robot
    DIONE
    Springer
    DOI: 10.1007/978-3-030-77417-2_26
Xu Guo1, Jinpen Huang2, Lepeng Song2, Feng Xiong1
  • 1: College of Mechanical and Automation Engineering, Chongqing Chemical Industry Vocational College
  • 2: Department of Automation, College of Electrical Engineering, Chongqing University of Science and Technology

Abstract

Aiming at the problem of inflexible steering and motion of robot, this paper applies fuzzy adaptive PID control algorithm to the differential steering control system of mowing robot to improve its rapidity and accuracy. In this paper, according to the domestic green environment and the overall parameters of the mowing robot, the overall design of the mowing robot is made, the fuzzy adaptive PID control algorithm of the mowing robot differential steering control system is designed, the mathematical model of the mowing robot differential steering is constructed, and the MATLAB/Simulink is used to simulate the fuzzy adaptive algorithm. The simulation results show that the response speed and overshoot of fuzzy adaptive PID algorithm are 2.42 s and 16.4, respectively, The response speed and overshoot of PID are 7.18 s and 36.3% respectively, so the dynamic performance of the differential steering control system based on Fuzzy Adaptive PID algorithm is better than that based on ordinary PID control.

Keywords
Mowing robot Fuzzy adaptive PID Differential steering
Published
2021-06-15
Appears in
SpringerLink
http://dx.doi.org/10.1007/978-3-030-77417-2_26
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