The Gm System for the use of AGMR System
Aditya Verma, Hassan M. Al‐Jawahry, Hasan Ali Alsailawi, P. Kirubanantham, SherinEliyas, Osama Nazim Saadoun, Manalmoradkarim, Doaa Talib Zaidan · 2024
Due to its ability to navigate crop fields with ease, mobile robots have become more important in the agricultural industry. This study discusses a number of important topics related to agricultural robot navigation, including mapping, localization, route planning, obstacle detection, and controlled guidance. With laser-based weeding tools installed, the suggested Guiding Manager aims to maximize tracking performance of mobile autonomous robots. Integrating spiral, lateral, and linear speed controls, the system can accommodate a variety of trajectories, including curves and straight lines, that are seen in agricultural settings. To confirm the performance of the controllers under various conditions, such as loose soil, stones, and humidity, a thorough field test is conducted on a tracked mobile platform. With the Lateral Controller, the average angular error is around -0.005 rad, and the average absolute lateral error is approximately 0.09 m. In contrast, the average absolute lateral error and angular inaccuracy displayed by the Spiral Controller are 0.15 m and 0.013 rad, respectively. The system guarantes the safe and accurate implementation of robotic tasks in agriculture, as shown by its ±0.009 rad angular precision and ±0.015 m horizontal accuracy.